Docking method

ABSTRACT

A docking method for docking a cleaning robot between a plurality of solar panels includes a docking area setting step, an approaching cleaning area step, a docking platform adjustment step, a cleaning robot first control step, and a leaving cleaning area step. The present invention uses a cleaning robot to complete cleaning on the solar panels or a solar panel array, a docking robot to transfer the cleaning robot between the solar panels or multiple solar panel arrays, and a data processing system to realize dispatching and controlling of the cleaning robot and the docking robot, so that a number of cleaning robots and docking robots can be dispatched properly according to a number of the solar panels needing to be cleaned, and a cleaning operation on all solar panels and panel arrays can be completed in a photovoltaic power station in a shortest time.

BACKGROUND OF INVENTION 1. Field of Invention

The present invention relates to a docking method for docking a cleaning robot between solar panels.

2. Related Art

With the decreased amount of fossil fuels, solar energy, as an emerging renewable energy source, has become an important part of human energy use. In the past ten years, solar energy application technology has developed worldwide and rapidly.

Since solar panels can only work outdoors, the most serious problem affecting their work is not wind, rain, and thunder, but dust and snow accumulated all year round. Dust or other articles attached to the solar panels will adversely affect light transmittance of the solar panels and hinder photoelectric efficiency, thereby seriously affecting efficiency of the solar panels to directly obtain sunlight, and reducing energy absorption and conversion efficiency of the solar panels, as well as efficiency of power generation.

Therefore, surfaces of the solar panels in each of photovoltaic power stations needs to be cleaned. It is obvious that manual cleaning is inefficient and risky. Accordingly, industries have developed a solar panel cleaning robot to clean the surfaces of the solar panels, which can effectively improve a cleaning efficiency without potential personal safety hazards associated with high-level cleaning operations.

Since solar panels or panel arrays are not arranged in a complete block, but in multiple locations in a certain area, there is a large space between solar panels or panel arrays at different positions in the area. As a result, cleaning robots cannot directly cross intervals in the area on different solar panels. In addition, if a cleaning robot is provided on each of the solar panels, not only is a hardware cost too high, but usage efficiency of each of the cleaning robot is too low, resulting in greater waste of resources.

Based on the above problems, there is a need to invent an intelligent cleaning system, including a cleaning device, a docking apparatus, and a data processing system. The cleaning device can complete effective cleaning on a single solar panel or panel array. The docking apparatus can transfer the cleaning robot from one solar panel array to another solar panel array. The data processing system can remotely dispatch and control the cleaning robot to efficiently complete a cleaning work on different panel arrays.

SUMMARY OF INVENTION

An object of the present invention is to provide a docking method to solve a technical problem of transferring and dispatching of cleaning robots between a plurality of solar panel arrays.

In order to achieve the above-mentioned object, the present invention provides a docking method, comprising a docking area setting step of setting a first docking area located outside each of a plurality of cleaning areas and adjoining a side of the cleaning area, and setting a second docking area located in the cleaning area, adjoining the side of the cleaning area, and corresponding to the first docking area; an approaching cleaning area step of dispatching a docking robot to the first docking area adjoining the cleaning area; a docking platform initial adjustment step of adjusting an angle and/or a height of a docking platform to allow an upper surface of the docking platform to be flush with an upper surface of a panel located in the cleaning area, and allow an entrance of a docking apparatus to face the second docking area; a cleaning robot first control step of controlling a cleaning robot to pass through the entrance from the first docking area to the second docking area, or from the second docking area to the first docking area; a docking platform further adjustment step of adjusting the angle and/or the height of the docking platform to make the upper surface of the docking platform be in a horizontal state; and a leaving cleaning area step of controlling the docking robot to leave the first docking area.

Further, prior to the cleaning robot first control step, the docking method further comprises an in-position signal sending step of sending an in-position signal indicating the docking robot arrives in position to a data processing system, and a second instruction sending step of sending a second travel instruction by the data processing system to the cleaning root.

Further, the approaching cleaning area step comprises an instruction obtaining step of obtaining a travel control instruction including a destination position and a recommended route of a transfer path of the docking robot; a station step of controlling the docking robot to travel along the recommended route to the destination position located in the first docking area; a distance obtaining step of obtaining a current distance between the docking robot and a border of the cleaning area, and determining whether the current distance is greater than a predetermined distance threshold; and a position adjustment step of controlling the docking robot to turn right at a steering angle and travel forward at an advance distance, and then turn left at the steering angle and travel back at a rearward distance to travel to the first docking area based on the current distance greater than the predetermined distance threshold, wherein the advance distance is determined by an equation set forth as (S−S0)/sin A, and the rearward distance is determined by an equation set forth as (S−S0)/tgA, in which S represents the current distance, S0 represents the predetermined distance threshold, and A represents the steering angle, and controlling the docking robot to turn left at the steering angle and travel forward at the advance distance, and then turn right at the steering angle and travel back at the rearward distance to travel to the first docking area based on the current distance less than the predetermined distance threshold, wherein the advance distance is determined by an equation set forth as (S0−S)/sin A, and the rearward distance is determined by an equation set forth as (S0−S)/tgA.

Further, prior to the position adjustment step, the approaching cleaning area step further comprises a distance signal sending step of sending a signal of the current distance to a data processing system, and a first instruction sending step of sending a first travel instruction to the cleaning robot.

Further, prior to the cleaning robot first control step, based on the cleaning robot needing to travel from the second docking area to the first docking area, the docking method further comprises a cleaning robot position determination step of determining whether the cleaning robot is in the second docking robot, and a cleaning robot position adjustment step of adjusting a position of the cleaning robot to be positioned in the second docking area based on the cleaning robot which needs not to travel form the second docking are to the first docking area.

Further, the cleaning robot position determination step comprises a picture obtaining step of obtaining a real-time picture including a graphic identifier provided on the cleaning robot; a deviation value calculation step of calculating a deviation value between a position of the graphic identifier in the real-time picture and a preset position of the graphic identifier; and a deviation determination step of determining that the cleaning robot has reached the second docking area based on an absolute value of the deviation value being less than a predetermined threshold, and determining that the cleaning robot deviates from the second docking area based on an absolute value of the deviation value being greater than or equal to the predetermined threshold.

Further, the cleaning robot position adjustment step comprises a deviation direction determination step of determining a deviation direction of the cleaning robot according to the deviation value; a graphical identifier determination step of determining whether the graphic identifier is located on a front surface or a rear surface of the cleaning robot; and a cleaning robot second control step of controlling the cleaning robot to turn right at a steering angle and travel back at a first distance, and then turn left at the steering angle and travel forward at a second distance to travel to the second docking area based on the cleaning robot deviating to the left and the graphic identifier located on the front surface of the cleaning robot; controlling the cleaning robot to turn right at the steering angle and travel forward at the first distance, and then turn left at the steering angle and travel back at the second distance to travel to the second docking area based on the cleaning robot deviating to the left and the graphic identifier located on the rear surface of the cleaning robot; controlling the cleaning robot to turn left at the steering angle and travel back at the first distance, and then turn right at the steering angle and travel forward at the second distance to travel to the second docking area based on the cleaning robot deviating to the right and the graphic identifier located on the front surface of the cleaning robot; and controlling the cleaning robot to turn left at the steering angle and travel forward at the first distance, and then turn right at the steering angle and travel back at the second distance to travel to the second docking area based on the cleaning robot deviating to the right and the graphic identifier located on the rear surface of the cleaning robot, wherein the first distance is determined by an equation set forth as E/sin F, and the second distance is determined by an equation set forth as E/tgF, in which F represents the steering angle.

Further, prior to the cleaning robot second control step, the docking method further comprises a cleaning robot data release step of sending the deviation direction of the cleaning robot and a location of the graphic identifier on the cleaning robot to a data processing system, and a third instruction sending step of sending a third travel instruction to the cleaning robot through the data processing system.

Further, after the docking platform initial adjustment step, the docking method further comprises a mating step of mating the docking platform to the second docking area of the cleaning area, and after the docking platform further adjustment step, the docking method further comprises an undocking step of separating the docking platform from the second docking area of the cleaning area.

Further, in the mating step, a bridge board provided by the docking robot extends from the docking robot to connect the upper surface of the docking platform to the upper surface of the panel in the cleaning area, and in the undocking step, the bridge board is retracted so that the upper surface of the docking platform is separated from the upper surface of the panel in the cleaning area.

The present invention has advantages as follows: the present invention provides a docking method for docking a cleaning robot between a plurality of solar panels of which the cleaning robot is employed to complete cleaning on a solar panel or a solar panel array, a docking robot is employed to transfer the cleaning robot between a plurality of solar panel arrays, and a data processing system is used to realize dispatching and controlling of the cleaning robot and the docking robot, so that the present invention can dispatch an appropriate number of cleaning robots and docking robots according to a number of solar panels needing to be cleaned, thereby to complete a cleaning operation on all solar panels and panel arrays in a photovoltaic power station in a shortest time.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic view showing a work area of an embodiment of the present invention.

FIG. 2 is a schematic view of a cleaning system in a working state of an embodiment of the present invention.

FIG. 3 is a schematic structural view of the cleaning system of an embodiment of the present invention.

FIG. 4 is a schematic structural view of a cleaning area of an embodiment of present invention.

FIG. 5 is a schematic structural view of a docking robot with a docking platform in a flat state of an embodiment of present invention.

FIG. 6 is a schematic structural view of the docking robot with the docking platform in a tilt state of an embodiment of present invention.

FIG. 7 is a schematic structural view showing a top of a docking apparatus of an embodiment of the present invention.

FIG. 8 is a schematic structural view showing a bottom of the docking apparatus of an embodiment of the present invention.

FIG. 9 is another schematic structural view showing the bottom of the docking apparatus of an embodiment of the present invention.

FIG. 10 is a schematic structural view of a height adjustment apparatus in an expanded state of an embodiment of the present invention.

FIG. 11 is a schematic exploded structural view of the height adjustment apparatus in a retracted state of an embodiment of the present invention.

FIG. 12 is a schematic structural view of the height adjustment apparatus in a retracted state of an embodiment of the present invention.

FIG. 13 is a functional block diagram of electronic devices of the cleaning system of an embodiment of the present invention.

FIG. 14 is a flowchart of a docking method of an embodiment of the present invention.

FIG. 15 is a flowchart of an approaching cleaning area step in accordance with an embodiment of the present invention.

FIG. 16 is a flowchart of a cleaning robot control step in accordance with an embodiment of the present invention.

FIG. 17 is a flowchart of a cleaning robot position determination step in accordance with an embodiment of the present invention.

FIG. 18 is a flowchart of a cleaning robot position adjustment step in accordance with an embodiment of the present invention

The reference numbers in the figures are given in the disclosure below.

DESCRIPTION OF PREFERRED EMBODIMENTS

The preferred embodiments of the present invention given below will be introduced with reference to the accompanying drawings of the specification, so as to demonstrate that the present invention can be implemented by examples. These embodiments can completely introduce the technical content of the present invention to those skilled in the art, and make the technical content of the present invention clearer and easier to understand. However, the present invention can be embodied by many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

In the drawings, components with same structures are represented by same numerals, and components with similar structures or functions are represented by similar numerals. When a component is described to be “connected to” another component, the two can be understood as directly “connected”, or one component is “connected” to the other component through an intermediate component.

As shown in FIG. 1, a solar power station is provided with a work area 100, which includes a plurality of solar panel arrays 101 (arrays for short). Each of the solar panel arrays 101 is arranged at a tilt angle with respect to a horizontal plane at an angle value from 15 degrees to 45 degrees to ensure that more sunlight directly hits solar panels. In most solar power stations, a tilt angle of each of the solar panels with respect to the horizontal plane (referred to as panel tilt angle or tilt angle) is the same. In a number of solar power stations, different solar panels may be arranged at different tilt angles, and tilt angles of certain panels may even be adjustable or variable.

As shown in FIG. 1, each of the solar panel arrays 101 includes a plurality of spliced solar panels 102 (referred to as panels). A plurality of the solar panel arrays 101 and/or a plurality of the solar panels 102 may be arranged in a matrix. A passage area 103 is formed between any adjacent two of the solar panel arrays 101 or solar panels 102. In this embodiment, a plurality of cross-connected passage areas 103 together form a crisscross path network.

As shown in FIGS. 2-3, an embodiment of the present invention provides a cleaning system, including a cleaning robot 200, a docking robot 300, and a data processing system 400, and a work area 100 is an area where the cleaning robot 200 and the docking 300 complete a solar panel cleaning operation.

During a normal operation of a solar power station, some solar panels or solar panel arrays will be contaminated with dust or stains and need to be cleaned. Each of the solar panels or the solar panel arrays that needs to be cleaned is defined as a cleaning area 500. The cleaning robot 200 can complete cleaning operations on the solar panel or the solar panel array in an effective way to clean every area on the panel or the panel array. The docking robot 300 can carry the cleaning robot 200 from a cleaning robot storage place to an upper surface of a cleaning area 500 (a panel or a panel array needing to be cleaned), or from an upper surface of a cleaned panel array to an upper surface of another cleaning area 500 (a panel or a panel array needing to be cleaned), or from a cleaned upper surface of the cleaning area 500 to the cleaning robot storage place.

As shown in FIG. 4, each of the cleaning areas 500 is a group of composite rectangular panel arrays, peripheral edges of which are defined as a cleaning area upper end 501, a cleaning area lower end 502, a cleaning area left end 503, and a cleaning area right end 504, respectively.

When a cleaning robot 200 is carried by a docking robot 300 to the cleaning area 500, preferably, the cleaning robot 200 travels from the cleaning area left end 503 or the cleaning area right end 504 to the cleaning area 500. Similarly, when a cleaning robot 200 is transferred from a cleaning area 500 by a docking robot 300, preferably, the cleaning robot 200 travels from the cleaning area left end 503 or the cleaning area right end 504 to the docking robot 300.

As shown in FIG. 4, each of the cleaning areas 500 is provided with a first docking area 505 and a second docking area 506 disposed opposite to each other. The first docking area 505 and the second docking area 506 are located at two sides of the cleaning area left end 503, or two sides of the cleaning area right end 504, respectively. In this embodiment, the first docking area 505 is located outside the cleaning area 500 and adjoins a side of the cleaning area right end 504. The second docking area 506 is in the cleaning area 500 and adjoins another side of the cleaning area right end 504. Preferably, the first docking area 505 and the second docking area 506 are in close contact with the cleaning area right end 504, respectively.

To determine which solar panel arrays in photovoltaic power stations need to be cleaned, there are several common methods as follows. A first type of the methods is an area-divided estimation method. In a small area (areas can be randomly defined), the natural environment of the panel arrays adjacent to each other is similar, so a pollution degree of panels in a same area is also similar. Randomly select a solar panel, detect a pollution degree of the solar panel being selected, and determine whether the solar panel needs to be cleaned. If the panel needs to be cleaned, all the panels in the area need to be cleaned. If a work area of a solar power station covers a large area, a large work area can be divided into multiple small work areas, and sampling detection can be carried out in different areas. A second type of the methods is a periodical cleaning method. According to a natural environment of work areas, all the panel arrays in the work areas are cleaned regularly. If there is a lot of wind and sand in the work area or serious precipitation, surfaces of the solar panels have heavy attachments, so the solar panels may need to be cleaned 1 to 2 times a day. If there is less wind and sand in the work area, less attachments remain on the surfaces of the solar panels, so the solar panels may be cleaned every ten days. The above two methods both perform indiscriminate processing on multiple solar panel arrays, and are relatively inaccurate. As a result, there may be a possibility that some panels having fewer attachments on surfaces of the panels are also cleaned by cleaning robots. A third type of the methods is an individual detection method, inasmuch as a pollution degree of each of the panel arrays is carefully detected, so as to determine which of the panel arrays or panels need to be cleaned. Although this method is more accurate, it is less efficient.

As shown in FIG. 3, the data processing system 400, preferably a physical server or a cloud server, is connected to the cleaning robot 200 and/or the docking robot 300 to realize data exchange between the cleaning robot 200 and/or the docking robot 300, and to issue control instructions to the cleaning robot 200 and/or the docking robot 300, as well as obtaining feedback data, such as real-time position coordinates of the above two robots, image data collected by the two robots in real time, etc., from the cleaning robot 200 and/or the docking robot 300. Therefore, the data processing system 400 can enable fulfillment of a cleaning operation by the cleaning robot 200, realize a real-time monitoring of travelling and docking processes of the docking robot 300, control the docking robot 300 to travel as desired in the path network of the work area, and manage docking between the docking robot 300 and the panel array 101 in the cleaning area.

After obtaining information (panel serial numbers) about which panel array 101 needs to be cleaned, and based on a time allowed for cleaning operations in a photovoltaic power station, the data processing system 400 estimates a number of docking robots 300 and cleaning robots 200 required for the cleaning operations. The data processing system 400 calls a docking robot 300 to send a cleaning robot 200 to a certain panel array that needs cleaning. The cleaning robot 200 performs a comprehensive cleaning operation on the panel array. After the cleaning operation on the panel array is completed, the data processing system 400 calls another docking robot 300 to carry the cleaning robot 200 from an upper surface of the panel array that has been cleaned to an upper surface of another panel array that needs to be cleaned, or to the cleaning robot storage place.

The cleaning robot 200 is a product independently developed by the applicant. Please refer to a series of solar panel cleaning robot related patents applied by the applicant from 2016 to 2018. After being transferred to a solar panel array, the cleaning robot 200 can travel freely on the solar panel array, move around every corner of the solar panel array, and complete the cleaning operation on the entire panel array while traveling, of which details are not repeated herein.

As shown in FIG. 5, an embodiment of the present invention provides a docking robot 300, including a vehicle 310, a docking apparatus 320, an angle adjustment apparatus 330, and a height adjustment apparatus 350.

As shown in FIGS. 5-6, the docking apparatus 320 includes a docking platform 321 for parking of the cleaning robot 200. The docking platform 321 is rotatably connected to a top or upper half part of the vehicle 310. During a docking process, the cleaning robot 200 travels from the upper surface of the docking platform 321 to an upper surface of a panel (on-board process), or from the upper surface of the panel to the upper surface of the docking platform 321 (off-board process).

As shown in FIGS. 7-9, the docking apparatus 230 includes a block wall 322 protruding outward from an edge of the docking platform 321 and being perpendicular to the docking platform 321. The block wall 322 includes a left block wall 322 a, a rear block wall 322 b, and a right block wall 322 c sequentially arranged and collectively enclosed to form a concave shape. An entrance 323 is formed between an opening end of the left block wall 322 a and an opening end of the right block wall 322 c.

The docking device 320 further includes an anti-collision component 324, preferably an anti-collision bar, disposed on an inner side wall of the rear block wall 322 b. Optionally, inner sides of the left block wall 322 a and/or the right block 322 c may also be provided with the anti-collision bars (not shown).

The docking apparatus 320 further includes a bridge board 327 and a first telescopic rod 328. The bridge board 327 is slidably assembled to the upper surface of the docking platform 321. One end of the first telescopic rod 328 is connected to a lower surface of the docking platform 321, and the other end is connected to a lower surface of the bridge board 327. The first telescopic rod 328 is a hydraulic telescopic rod or an electric telescopic rod, and is equipped with a first telescopic rod controller 329. When receiving a command electrical signal, the first telescopic rod controller 329 can control the first telescopic rod 328 to adjust a length of the first telescopic rod 328. When the length of the first telescopic rod 328 is reduced to a shortest length, the bridge board 327 is located on the upper surface of the docking platform 321; when the length of the first telescopic rod 328 is extended, the bridge board 327 extends a distance toward the entrance 323. When a distance between the docking robot 300 and the solar panel array 101 reaches a smallest spacing, and an angle of the docking platform 321 is adjusted to be consistent with the solar panel array 101, the first telescopic rod 328 extends a certain distance, and the bridge board 327 extends toward the solar panel array 101, so that the docking platform 321 is connected to the solar panel array 101, and the cleaning robot 200 can smoothly travel from the docking platform 321 to the solar panel array 101 (i.e. cleaning area), or from the solar panel array 101 (i.e. cleaning area) to the docking platform 321. After the cleaning robot 200 is in position after transferring, the length of the first telescopic rod 328 is minimized, and the bridge board 327 is retracted to the upper surface of the docking platform 321.

As shown in FIGS. 7-9, the docking apparatus 320 further includes two sliding shaft bases 325 a, 325 b arranged oppositely and two rotating shaft bases 326 a, 326 b arranged oppositely.

The two sliding shaft bases 325 a, 325 b protrude outward from a middle of a bottom of the docking platform 321. There are provided two first sliding grooves 325 c, 325 d on two opposite surfaces of the two sliding shaft bases 325 a, 325 b, respectively. The two first sliding grooves 325 c, 325 d correspond to each other in shapes, sizes, and positions.

The two rotating shaft bases 326 a, 326 b protrude outward from the bottom of the docking platform 321 and are located adjacent to end portions at a right side of the docking platform 321. There are provided base through holes 326 c, 326 d at centers of the two rotating shaft bases 326 a, 326 b, respectively. The base through holes 326 c, 326 d correspond to each other in shapes, sizes, and locations.

As shown in FIG. 6, the vehicle 310 includes a vehicle body 311. left and right sides of the vehicle body 311 are provided with traveling devices 312 (such as wheels), respectively, preferably track wheel units, having good adaptability to road surfaces and good travelling performance.

As shown in FIG. 10, the vehicle body 311 includes a vehicle bracket 313, which is a three-dimensional frame whose overall shape and is substantially cuboid in shape. The vehicle bracket 313 includes a plurality of horizontally arranged transverse supports and a plurality of vertically arranged longitudinal supports. The longitudinal supports are perpendicular to a horizontal plane or maintain a certain angle with the horizontal plane. One or more baffles are fixed on a top, a side, or a bottom surface of the vehicle bracket 313, and the baffles and the vehicle bracket 313 jointly enclose the vehicle body 311. As shown in FIGS. 5-6 and FIGS. 10-12, the height adjustment apparatus 350 is disposed on a top or upper part of the vehicle 310, and the angle adjustment apparatus 330 is disposed on the height adjustment apparatus 350. The docking platform 321 is rotatably connected to a top of the angle adjustment apparatus 330 for controlling tilt angles of the docking platform 321. As shown in FIGS. 10-12, the angle adjustment apparatus 330 includes a sliding shaft 331, a second telescopic rod 332, a rotating shaft 333, and a telescopic rod mounting frame 334. The second telescopic rod 332 is a hydraulic telescopic rod or an electric telescopic rod, and the second telescopic rod 332 is equipped with a second telescopic rod controller 335. When receiving a command electrical signal, the second telescopic rod controller 335 can adjust a length of the second telescopic rod 332.

Both ends of the sliding shaft 331 can be slidably installed in the two first sliding grooves 325 c and 325 d. The telescopic rod mounting frame 334 is fixed to the height adjustment device 350. One end of the second telescopic rod 332 is rotatably connected to a middle of the sliding shaft 331, and the other end is rotatably connected to the telescopic rod mounting frame 334. A middle part of the rotating shaft 333 is fixedly connected to the height adjustment apparatus 350, with two ends of the rotating shaft 333 rotatably mounted to the base through holes 326 c, 326 d of the two rotating shaft bases 326 a, 326 b, so that the rotating shaft 333 is rotatable with respect to the rotating shaft bases 326 a, 326 b. When the length of the second telescopic rod 332 changes, the tilt angle of the docking platform 321 can be adjusted to be larger or smaller.

As shown in FIG. 5 to FIG. 6 and FIG. 10 to FIG. 12, the height adjustment device 350 includes a frame body 351, a first bracket 352, a second bracket 353, and a pin shaft 354. The docking apparatus 320 is rotatably connected to an end of the frame body 351. An upper end of the first bracket 352 is slidably connected to the frame body 351, and a lower end of the first bracket is rotatably connected to a top of the vehicle 310. An upper end of the second bracket 353 is rotatably connected to the frame body 351, and a lower end the second bracket is slidably connected to the top of the vehicle 310. The pin shaft 354 passes through a middle of the first bracket 352 and a middle of the second bracket 353, and the second bracket 353 is rotatably connected to the first bracket 352 via the pin shaft 354.

The height adjustment device 350 further includes two first guide rails 355 a, 355 b disposed oppositely and two second guide rails 356 a, 356 b disposed oppositely. The first guide rails 355 a, 355 b are horizontally mounted on the frame body 351. Two opposite surfaces of the two first guide rails 355 a, 355 b each are defined with two second sliding grooves 357 a, 357 b opposite to each other. The second guide rails 356 a, 356 b are horizontally mounted on the top of the vehicle 310. Two opposite surfaces of the two second guide rails each are defined with two third sliding grooves 358 a, 358 b opposite to each other.

In the angle adjustment apparatus 330, the telescopic rod mounting frame 334 is disposed under the frame body 351 and is connected to the frame body 351. A middle of the rotating shaft 333 is fixedly connected to an end of a top or an upper half of the frame body 351, and two ends of the rotating shaft are rotatably installed to the base through holes 326 c, 326 d of the two rotating shaft bases 326 a, 326 b to allow the rotating shaft 333 to rotate relative to the rotating shaft bases 326 a, 326 b.

In the height adjustment apparatus 350, the first bracket 352 includes two first links 3521 a, 3521 b disposed in parallel, and a first cross beam 3522. Two ends of the first cross beam 3522 are connected to the first link 3521 a, 3521 b, respectively. An outer side of an upper end of the first link 3521 a or 3521 b is disposed with a first pulley 3523 a or 3523 b, and the two first pulleys 3523 a, 3523 b are slidably mounted in the second sliding grooves 357 a and 357 b, respectively. The second bracket 353 includes two second links 3531 a, 3531 b disposed in parallel, and a second cross beam 3532. Two ends of the second cross beam 3532 are connected to the second links 3531 a, 3531 b, respectively. An outer side of a lower end of the second link 3531 a or 3531 b is disposed with a second pulley 3533 a or 3533 b, and the two second pulleys 3533 a, 3533 b are slidably mounted in the third sliding grooves 358 a, 358 b, respectively.

The height adjustment apparatus 350 further includes a third telescopic rod 359, an end of which is rotatably connected to the first bracket 352 or the second bracket 353, and another end of which is rotatably connected to the vehicle 310. Preferably, a third cross beam (not shown in the figure) is disposed on the first bracket 352, and two ends of the third cross beam are perpendicularly connected to the two first link 3521 a, 3521 b, respectively. A sleeve 3524 is sheathed outside the third cross beam. An upper end of the third telescopic rod 359 is hinged to the sleeve 3524 and can rotate around the third cross beam.

The third telescopic rod 359 is a hydraulic telescopic rod or an electric telescopic rod. The third telescopic rod 359 is equipped with a second telescopic rod controller 335. When receiving a command electrical signal, the third telescopic rod controller 360 can control the second telescopic rod 332 to adjust a length of the second telescopic rod.

The third telescopic rod 359 is a hydraulic telescopic rod or an electric telescopic rod, which is connected to a processor 340 (refer to FIG. 18), and the processor 340 is configured to send electrical signals to control the first telescopic rod 328, the second telescopic rod 332, and the third telescopic rod to adjust their length, respectively.

As shown in FIG. 3, when the docking robot 300 travels to a vicinity of the cleaning area 500 (solar panel or panel array), the data processing system 400 controls the docking robot 300 to adjust positions and directions of the docking robot 300, so that the docking robot 300 travels to the first docking area 505 at a lower part of a right end of the cleaning area 500, and to make the entrance 323 of the docking apparatus 320 right toward a direction of the cleaning area 500.

In the present embodiment, when the docking robot 300 is traveling in the passage area 103, the lengths of the second telescopic rod 332 and the third telescopic rod 359 are minimized, a height of the height adjustment apparatus 350 is minimized, the docking platform 321 is disposed horizontally on the top of the vehicle 310, and an included angle between the docking platform 321 and the upper surface of the vehicle 310 is zero degree. If the cleaning robot 200 is parked on the docking platform 321, the cleaning robot 200 can remain stable during transportation and will not slip off.

As shown in FIG. 3, when the docking robot 300 travels to the first docking area 505 of the cleaning area 500, the processor 340 sends electrical signals to the second telescopic rod controller 335 and/or the third telescopic rod controller 360 to control the second telescopic rod 332 and/or the third telescopic rod 359 to extend. The third telescopic rod 359 is extended, so that the frame body 351 at the upper end of the height adjustment apparatus 350 and the docking platform 321 are raised. The second telescopic rod 332 is extended, so that an end of the docking platform 321 away from the rotating shaft 333 is propped up, and another end of the docking platform rotates around the rotating shaft 333, so that the included angle between the docking platform 321 and the upper surface of the vehicle 310 gradually increases until it is consistent with a tilt angle of the cleaning area 500 (solar panel or panel array) relative to the horizontal plane, so that the upper surface of the docking platform 321 and the upper surface of the panel in the cleaning area 500 are on a same plane.

Similarly, after a docking process is completed, the processor 340 sends electrical signals to the second telescopic rod controller 335 and/or the third telescopic rod controller 360 to control the second telescopic rod 332 and/or the third telescopic rod 359 to be shortened. The second telescopic rod 332 is shortened, so that the included angle between the docking platform 321 of the docking apparatus 320 and the horizontal plane is reduced to zero degree, and the docking platform 321 is restored from an inclined state to a horizontal state. The third telescopic rod 359 is shortened, so that the frame body 351 at the upper end of the height adjustment apparatus 350 and the docking platform 321 are lowered to the lowest point, and the docking robot 300 can then travel to other positions.

During an extension or contraction of the second telescopic rod 332, the two ends of the rotating shaft 333 rotate in the two base through holes 326 c, 326 d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325 c, 325 d, so that a bottom of the docking platform 321 can keep stable during a tilt angle adjustment process without shaking.

During an extension or contraction of the third telescopic rod 359, the lower end of the first bracket 352 rotates relative to the vehicle, and the first pulleys 3523 a, 3523 b on the left and right sides of the upper end of the first bracket are slid in the second sliding grooves 357 a, 357 b, respectively. The upper end of the second bracket 353 rotates relative to the docking apparatus 320, and the second pulleys 3533 a, 3533 b on the left and right sides of the lower end of the second bracket are slid in the third sliding grooves 358 a, 358 b, respectively. Shape and size of the first bracket 352 and the second bracket 353 are approximately same. The first link 3521 b and the second link 3531 b have same length. A rotation angle of the lower end of the first bracket 352 is same as a rotation angle of the upper end of the second bracket 353. A sliding distance of the upper end of the first bracket 352 is same as a sliding distance of the lower end of the second bracket 353. During a lifting process of the height adjustment apparatus 350, the docking apparatus 320 is always stable and will not shake. If the cleaning robot 200 is loaded on the docking platform 321, it can be ensured that the cleaning robot 200 will not slip off the docking apparatus 320.

If the tilt angles of all the solar panels in the work area 100 are the same and remain unchanged, an extension distance of the second telescopic rod 332 can be a preset constant length. When each time the second telescopic rod 332 is extended, an adjusted tilt angle of the docking platform 321 is same as a tilt angle of the panel.

If all the solar panels in the work area 100 have a same height, an extension distance of the third telescopic rod 359 can also be a preset constant length. The extension distance of the third telescopic rod 359 can be the preset constant length. Each time the third telescopic rod 359 is extended, a rising height of the docking platform 321 is same, which is greater than or equal to a height of the lower end of the panel.

If the tilt angles and/or heights of all the solar panels in the work area 100 are different, the data processing system 400 issues commands to the processor 340 of the docking robot 300 according to a panel height and a panel tilt angle of the cleaning area 500. The processor 340 issues commands to the third telescopic rod controller 360 to adjust a height of the height adjustment apparatus 350 and a height of the docking platform 321. The processor 340 issues commands to the second telescopic rod controller 335 to adjust the tilt angle of the docking platform 321.

When the tilt angle of the docking platform 321 is adjusted, the data processing system 400 receives feedback information from the docking robot 300 and sends an action command to the cleaning robot 200 to control the cleaning robot 200 to travel from the docking platform 321 in the first docking area 505 to the solar panel (referred to as on-board process) in the second docking area 506, or to travel from the solar panel in the second docking area 506 to the docking platform 321 (referred to as off-board process) in the first docking area 505, so as to complete the docking process.

As shown in FIG. 12, the docking robot 300 of the present embodiment further includes a circuit board 314, which is preferably disposed in the vehicle 310. The processor 340 is disposed on the circuit board 314 as a control device configured to connect to the docking robot 300. The processor 340 is connected to the first telescopic rod controller 329, the second telescopic rod controller 335, and the third telescopic rod controller 360, respectively, and is configured to issue control commands to the first telescopic rod controller 329 and/or the second telescopic rod controller 335, and/or the third telescopic rod controller 360.

As shown in FIG. 13, the cleaning robot 200 is provided with a first wireless communication unit 201. The docking robot 300 is provided with a second wireless communication unit 301, and the data processing system 400 is provided with a third wireless communication unit 401. The first wireless communication unit 201 and the second wireless communication unit 301 are wirelessly connected to the third wireless communication unit 401, respectively, so that the cleaning robot 200 or the docking robot 300 can exchange data in a wireless communication manner with the data processing system 400.

As shown in FIG. 4, when the docking robot 300 travels to the vicinity of the cleaning area 500 (solar panel or panel array), the data processing system 400 controls the docking robot 300 to adjust positions and directions of the docking robot 300, so that the docking robot 300 travels to the first docking area 505 at the lower part of the right end of the cleaning area, with the entrance 323 of the docking apparatus 320 positioned right toward the direction of the cleaning area 500.

As shown in FIGS. 5 and 6 and FIGS. 10 to 12, in the present embodiment, when the docking robot 300 is traveling in the passage area 103, a length of the second telescopic rod 332 is minimized, the docking platform 321 is disposed horizontally on the top of the vehicle 310, and the included angle between the docking platform 321 and the upper surface of the vehicle 310 is zero degree. If the cleaning robot 200 is parked on the docking platform 321, the cleaning robot 200 can remain stable during transportation and will not slip off.

As shown in FIGS. 4 to 6, when the docking robot 300 travels to the first docking area 505 of the cleaning area 500, the processor 340 sends an electrical signal to the second telescopic rod controller 335 to control the second telescopic rod 332 to extend, an end of the docking platform 321 away from the rotating shaft 333 is propped up, and another end of the docking platform rotates around the rotating shaft 333, so that an included angle between the docking platform 321 and the upper surface of the vehicle 310 gradually increases until it is consistent with a tilt angle of the cleaning area 500 (solar panel or panel array) relative to the horizontal plane, so that the upper surface of the docking platform 321 and the upper surface of the panel in the cleaning area 500 are on a same plane. As shown in FIGS. 7 to 9, during an extension of the second telescopic rod 332, the two ends of the rotating shaft 333 rotate in the two base through holes 326 c, 326 d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325 c, 325 d, so that a bottom of the docking platform 321 can keep stable during a tilt angle adjustment process without shaking.

If the tilt angles of all solar panels in the work area 100 are the same and remain unchanged, an extension distance of the second telescopic rod 332 can be a preset constant length. When each time the second telescopic rod 332 is extended, an adjusted tilt angle of the docking platform 321 is same as a tilt angle of the panel.

If the tilt angles of all solar panels in the work area 100 are different, the data processing system 400 issues commands to the processor 340 of the docking robot 300 according to a panel tilt angle of the cleaning area 500. The processor 340 issues commands to the second telescopic rod controller 335 to adjust the tilt angle of the docking platform 321.

When the tilt angle of the docking platform 321 is adjusted, the data processing system 400 receives feedback information from the docking robot 300 and sends an action command to the cleaning robot 200 to control the cleaning robot 200 to travel from the docking platform 321 in the first docking area 505 to the solar panel (referred to as on-board process) in the second docking area 506, or to travel from the solar panel in the second docking area 506 to the docking platform 321 (referred to as off-board process) in the first docking area 505, so as to complete the docking process.

In the present embodiment, when the docking platform 321 is in the inclined state, a height of a lowest point of the docking platform 321 is greater than or equal to a lowest end of the solar panel or panel array in the work area 100 (such as the lower end 502 of the cleaning area). A height of a highest point of the docking platform 321 is less than or equal to a highest end of the solar panel or panel array in the work area 100 (such as the upper end 501 of the cleaning area), thereby ensuring that the docking platform 321 can be connected to a left side or a right side of the solar panel or panel array (such as the left end 503 or the right end 504 of the cleaning area) to enable an all-round docking during the docking process.

Regardless of whether the docking platform 321 is in the inclined state or a flat state, the height of the lowest point of the docking platform 321 is substantially unchanged, and the height basically depends on a height of the top of the vehicle 310. Preferably, a docking position between the docking platform 321 and the panel is positioned at a lower part of the right side of the panel or panel array, wherein a height requirement for the vehicle 310 is relatively low. The lower a center of gravity of the vehicle 310 is, the more stable the docking robot 300 will be during a traveling process of carrying the cleaning robot, effectively preventing from bumps and shaking caused by uneven road surfaces.

As shown in FIG. 13, in the present embodiment, the docking robot 300 is further provided with various data collection devices configured to collect various work data during a working process of the docking robot 300. The data collection devices include different types of sensors, including a through-beam sensor 601, a distance sensor 602, a tilt sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, a lighting device 607, and an obstacle avoidance sensor 608, and so on. Each of the above-mentioned sensors is wired or wirelessly connected to the processor 340. Original work data collected during an operation of the docking robot 300 is sent to the processor 340, and processed by the processor 340 to generate preprocessed data. The original work data and/or the preprocessed data is sent to the data processing system 400 through the wireless communication unit to realize real-time monitoring of the docking robot 300 operation process and real-time control of the traveling process and/or the docking process of the docking robot 300.

As shown in FIGS. 5 to 7, the through-beam sensor 601 includes a transmitter 601 a and a receiver 601 b disposed oppositely on the inner sidewalls of the left baffle 322 a and the right baffle 322 c of the docking apparatus 320, respectively. The transmitter 601 a and the receiver 601 b are close to the entrance 323, and are disposed on two sides of the entrance 323, respectively. The through-beam sensor 601 is preferably a pair of through-beam infrared sensors. Infrared rays emitted by the transmitter 601 a are captured by the receiver 601 b. When the infrared rays are shielded, the processor 340 can determine that an item passes through the entrance 323.

When the cleaning robot 200 travels from an outside to the entrance of the docking apparatus 320, the infrared rays between the transmitter 601 a and the receiver 601 b are shielded, and the through-beam sensor 601 can sense that a front end of the cleaning robot 200 is traveling to the docking apparatus 320. When all parts of the cleaning robot 200 are completely inside the docking apparatus 320, the infrared rays between the transmitter 601 a and the receiver 601 b return to an unobstructed state, and the through-beam sensor 601 can sense that a back end of the cleaning robot 200 is also traveled to the docking apparatus 320. Based on the real-time electrical signal of the through-beam sensor 601, the processor 340 can determine that the front end of the cleaning robot 200 is traveling to the docking apparatus 320, or that the whole of the cleaning robot 200 is traveling completely into the docking apparatus 320.

The distance sensor 602 is disposed on an inner sidewall of a middle of the rear baffle 322 b of the docking apparatus 320, and is disposed opposite to the entrance 323. The distance sensor 602 is preferably a reflective infrared sensor. The reflective infrared sensor continuously emits infrared rays toward the entrance 323. If a reflected infrared rays can be received, it can be determined that the cleaning robot 200 enters the docking platform 321 from the entrance 323. Furthermore, a distance between the front end of the cleaning robot 200 and the rear baffle 322 b of the docking apparatus 320 can be acquired according to a time of an infrared ray being received.

When the cleaning robot 200 travels from the outside to the entrance of the docking apparatus 320, the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling to the docking apparatus 320 or not. At the same time, the distance between the front end of the cleaning robot 200 and the rear baffle 322 b can be acquired according to a time of the infrared ray being received. The processor 340 acquires a value of the distance, and can monitor a progress of the cleaning robot 200 entering the docking apparatus 320 in real time, thereby determining whether the whole of the cleaning robot 200 is traveling inside the docking platform 321 or not.

When the cleaning robot 200 travels out of the docking apparatus 320 through the entrance, the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling in and out of the docking apparatus 320. At the same time, the distance between the front end of the cleaning robot 200 and the rear baffle 322 b can be acquired according to a time of the infrared ray being received. The processor 340 acquires the value of the distance, and can monitor a progress of the cleaning robot 200 leaving the docking apparatus 320 in real time, thereby determining whether the whole of the cleaning robot 200 is traveling outside the docking platform 321 or not.

The tilt sensor 603 is preferably disposed on the lower surface of the docking platform 321 (refer to FIG. 8) to measure the included angle between the upper surface of the docking platform 321 and the horizontal plane (referred to as a platform tilt angle) in real time, and is configured to send a value of the platform tilt angle to the processor 340. If the tilt angles of all solar panels in the work area 100 are different or the tilt angles of some panels are variable, each time the second telescopic rod 332 is extended, the tilt sensor 603 monitors the value of the platform tilt angle in real time and sends the value of the platform tilt angle to the processor 340. When the value of the platform tilt angle in real time is same as the tilt angle of the panel, the processor 340 sends a stop command to the second telescopic rod controller 335, so that the second telescopic rod 332 stops extending, therefore the platform tilt angle is same as the tilt angle of the panel.

In the present embodiment, the positioning device 604 is a radio frequency identification (RFID) reader, which is disposed inside or outside the vehicle 310, preferably at the bottom of the vehicle 310 or the front end of the docking platform 321, and is configured to obtain real-time positions in the work area and to send the real-time positions of the vehicle 310 to the processor 340.

In the present embodiment, a label positioning solution is adopted. A recommended route is preset in the passage area 103. The vehicle 310 is controlled to travel along the recommended route, and a set of identifiable tags are disposed at regular intervals on the recommended route, such as RFID tags. Each of the identifiable tag stores location coordinates of the identifiable tag in the work area and other data. When the docking robot 300 travels to a certain positioning point, the RFID reader reads the preset RFID tag at the positioning point, the processor 340 acquires the real-time position of the docking robot 300, and optionally sends it to the data processing system 400. In other embodiments, the positioning device 604 can also be a high-precision global positioning system (GPS) positioning unit or a BEIDOU positioning unit, and can also obtain the real-time position of the docking robot 300.

The electronic compass 605 is preferably disposed inside or outside the vehicle 310 to obtain a real-time travel direction of the shuttling robot 300 and send the real-time travel direction to the processor 340 for data processing and data analysis to determine whether the real-time travel direction of the docking robot 300 is consistent with a preset direction or not. If the docking robot 300 deviates from the preset direction, the processor 340 sends a command to the vehicle 310 to adjust the travel direction of the vehicle 310 in time.

Preferably, the image sensor 606 and/or the lighting device 607 are disposed at a front and/or rear of the vehicle 310, and the image sensor 606 is configured to collect real-time images and/or pictures of the front and/or rear of the vehicle 310 in real time, and send them to the processor 340. When the docking robot 300 travels in the passage area 103 of the work area 100, an image content collected by the image sensor 606 includes an accessible area in the passage area 103 at any time and is sent to the processor 340. The processor 340 calculates an expected travel area covered by the vehicle 310 in a next period according to a real-time travel speed of the vehicle 310, and compares the expected travel area and an accessible area at each moment in real time to determine whether the vehicle 310 is still in the accessible area in the next period or not. If the expected travel area exceeds the accessible area, it proves that there is an obstacle on a travel route of the vehicle 310. The processor 340 needs to adjust the travel direction of the vehicle 310 in real time to prevent the vehicle 310 from hitting the obstacle during travel.

In another embodiment, the image content collected by the image sensor 606 can further include a border of the solar panel and/or the panel array, and the border is displayed as a border line in the image. In another embodiment, after processing by a specific algorithm, the docking robot 300 is adjustable in the travel direction in real time with reference to a position of the border line, so that the docking robot 300 can travel in a straight line as much as possible.

When the docking robot 300 is traveling in a dark environment (such as night, cloudy, etc.), the lighting device 607 is configured to illuminate the passage area in front and/or behind the vehicle 310 for the image sensor 606 to collect the images and/or pictures normally. In some other embodiments, the image sensor 606 and/or the lighting device 607 can also be disposed on the left and/or right side of the vehicle 310 for real-time collection of real-time images and/or pictures on the left and/or right side of the vehicle 310. In some other embodiments, the image sensor 606 and/or the lighting device 607 can also be disposed on the side of the docking apparatus 320, and a camera provided by the image sensor 606 is disposed towards the outside. When the height and the tilt angle of the docking platform 321 are adjusted to be consistent with the solar panel 102, the camera is right facing the solar panel 102.

The obstacle avoidance sensor 608, preferably an ultrasonic sensor, is disposed at the front and/or rear of the vehicle 310. During the traveling process of the docking robot 300, when the processor 340 acquires a sensing signal send from the obstacle avoidance sensor 608 at the front or rear, it can determine that there is an obstacle in the front or rear of the vehicle in a travel route that affect the driving, so that the processor 340 can adjust the travel direction of the docking robot 300 to avoid the obstacle. In other embodiments, the obstacle avoidance sensor 608 can also be disposed on the left and/or right side of the vehicle 310.

The present invention provides a docking robot, which is used as a carrier of the cleaning robot to transfer the cleaning robot in the channel area between a plurality of solar panel arrays, so that the cleaning robot can complete cleaning work on different solar panel arrays. In this embodiment, both the height and the tilt angle of the docking platform of the docking robot can be adjusted. Even if the height of the solar panel is relatively large, the docking platform and the solar panel can be fully mated.

As shown in FIG. 14, based on the above embodiments, the present invention further provides a docking method, which includes the following steps S1 to S10 performed sequentially.

A docking area setting step S1: setting a first docking area located outside each of a plurality of cleaning areas (solar panels or panel arrays) and adjoining a side of the cleaning area, and setting a second docking area located in the cleaning area, adjoining the side of the cleaning area, and corresponding to the first docking area.

An approaching cleaning area step S2: dispatching a docking robot to the first docking area of the cleaning area through a data processing system.

As shown in FIG. 15, the approaching cleaning area step S2 includes: an instruction obtaining step S21: obtaining a travel control instruction issued by the data processing system, wherein the travel control instruction includes a destination position and a recommended route of a transfer path of the docking robot; a station step S22: controlling the docking robot to travel along the recommended route to the destination position located in the first docking area according to the travel control instruction, wherein the destination position is in the first docking area; a distance obtaining step S23: obtaining a current distance S between the docking robot and a border of the cleaning area, and determining whether the current distance S is greater than a predetermined distance threshold S0; a distance signal sending step S24: sending a signal of the current distance S to the data processing system by the docking robot; a first instruction sending step S25: sending a first travel instruction to the cleaning robot by the data processing system; a position adjustment step S26: controlling the docking robot to turn right at a steering angle A and travel forward at an advance distance B, and then turn left at the steering angle A and travel back at a rearward distance C to travel to the first docking area based on the current distance S greater than the predetermined distance threshold S0, wherein the advance distance B is determined by an equation set forth as (S−S0)/sin A, and the rearward distance C is determined by an equation set forth as (S−S0)/tgA; and controlling the docking robot to turn left at the steering angle A and travel forward at the advance distance B, and then turn right at the steering angle A and travel back at the rearward distance C to travel to the first docking area based on the current distance S less than the predetermined distance threshold S0, wherein the advance distance B is determined by an equation set forth as (S0−S)/sin A, and the rearward distance C is determined by an equation set forth as (S0−S)/tgA.

A docking platform initial adjustment step S3: adjusting an angle and/or a height of a docking platform assembled to the docking robot. In this embodiment, the docking robot is equipped with the angle adjustment device 330 and the height adjustment device 350, and the height and angle of the docking platform can be adjusted. After adjustment, an upper surface of the docking platform of the docking robot is flush with an upper surface of a panel located in the cleaning area, so that the cleaning robot can travel on a same plane, wherein an entrance of a docking apparatus faces the second docking area, so that the cleaning robot can travel freely.

A mating step S4: mating, by the docking robot, the docking platform to the second docking area of the cleaning area. In the mating step, a bridge board provided by the docking robot extends from the docking robot to connect the upper surface of the docking platform to the upper surface of the panel in the cleaning area. For the case where a distance between the docking platform and the solar panel is relatively close, such as less than 10 centimeters (cm), the cleaning robot with tracks can walk directly between the docking platform and the solar panel without using the bridge board, so the mating step S4 may be omitted.

An in-position signal sending step S5: sending, by the docking robot, an in-position signal indicating the docking robot arrives in position to the data processing system to inform the data processing system that the docking robot has traveled to the first docking area.

A second instruction sending step S6: after the docking robot has traveled to the first docking area, the data processing system issues a second travel instruction to the cleaning robot according to actual situations, which generally include two situations, one is to transfer the cleaning robot loaded on the docking robot to the panel in the cleaning area, and the other is to transfer the cleaning robot from the panel in the cleaning area to the docking platform of the docking robot.

A cleaning robot first control step S7: the data processing system issues instructions to the cleaning robot according to the actual situation, and controls the cleaning robot to pass through the entrance from the first docking area to the second docking area, so that the cleaning robot loaded on the docking robot is transferred to the panel in the cleaning area; alternatively, the data processing system controls the cleaning robot to pass through the entrance from the second docking area to the first docking area, so that the cleaning robot is transferred from the panel in the cleaning area to the docking platform of the docking robot. The docking apparatus of the docking robot is equipped with a through-beam sensor and a distance sensor, which can determine in real time whether the cleaning robot in the docking apparatus has completely left the docking platform, or determine in real time whether the cleaning robot on the panel has travelled to completely enter the docking platform, thereby to determine whether the cleaning robot has completed the transfer.

An undocking step S8: after the cleaning robot has been transferred, the docking robot separates the docking platform from the second docking area of the cleaning area. In the undocking step, the docking robot retracts the bridge board so that the upper surface of the docking platform of the docking apparatus is separated from the upper surface of the panel in the cleaning area. For the case where a distance between the docking platform and the solar panel is relatively close, such as less than 10 cm, because the cleaning robot has the tracks at the bottom, the cleaning robot can pass through a road with a small width. Therefore, the docking step S4 and the undocking step S8 can be omitted.

A docking platform further adjustment step S9: the docking robot adjusts the angle and/or the height of the docking platform to make the upper surface of the docking platform be in a horizontal state. In this embodiment, the docking robot is equipped with the angle adjusting device 330 and the height adjusting device 350, and the height and angle of the docking platform of the docking robot can be adjusted. After adjustment, the upper surface of the docking platform of the docking apparatus of the docking robot is adjusted to the horizontal state, so that the cleaning robot can be kept in the horizontal state. When the docking robot carries the cleaning robot to other panels, the cleaning robot can maintain a stable horizontal state on the docking platform.

A leaving cleaning area step S10: controlling the docking robot to leave the first docking area.

In a process of employing a docking robot to transfer a cleaning robot from the first cleaning area to the second cleaning area, an unloaded docking robot is called to the first cleaning area, and steps S1 to S10 are performed. In step S6, the data processing system issues the second travel instruction to the cleaning robot in the first cleaning area. In step S7, control the cleaning robot to travel from the second docking area to the docking platform of the unloaded docking robot in the first docking area.

As shown in FIG. 16, when the cleaning robot needs to travel from the second docking area to the first docking area, the cleaning robot is in a process of traveling to the docking robot. If a parking position or a head of the cleaning robot deviates, the cleaning robot will run a certain risk of falling. Therefore, the cleaning robot first control step S7 further includes the following steps S71˜S72. A cleaning robot position determination step S71: determining whether the cleaning robot is in the second docking robot; if not, go to step S72. A cleaning robot position adjustment step S72: adjusting a position of the cleaning robot to be positioned in the second docking area.

As shown in FIG. 17, the cleaning robot position determination step S71 includes a picture obtaining step S711: obtaining a real-time picture including a graphic identifier provided on the cleaning robot; a deviation value calculation step S712: calculating a deviation value D between a position of the graphic identifier in the real-time picture and a preset position of the graphic identifier; and a deviation determination step S713: determining that the cleaning robot has reached the second docking area based on an absolute value of the deviation value D being less than a predetermined threshold DO, and determining that the cleaning robot deviates from the second docking area based on an absolute value of the deviation value D being greater than or equal to the predetermined threshold DO. The graphic identifier is disposed on an outer surface of a housing of the cleaning robot in advance. The graphic features, shape, color, and size of the graphic are all stored in advance in the docking robot and/or the data processing system. Similarly, the deviation value D of the preset position of the graphic identifier in the real-time picture is also stored in advance in the docking robot and/or the data processing system.

As shown in FIG. 18, the cleaning robot position adjustment step S72 includes: a deviation value calculation step S721: calculating a deviation value D between a position of the graphic identifier in the real-time picture and a preset position of the graphic identifier; a deviation direction determination step S722: determining a deviation direction of the cleaning robot according to the deviation value D; a graphical identifier determination step S723: determining whether the graphic identifier is located on a front surface or a rear surface of the cleaning robot; a cleaning robot data release step S724: sending the deviation direction of the cleaning robot and a location of the graphic identifier on the cleaning robot to a data processing system; a third instruction sending step S725: sending a third travel instruction to the cleaning robot through the data processing system; a cleaning robot second control step S726 of controlling the cleaning robot to turn right at a steering angle F and travel back at a first distance G, and then turn left at the steering angle F and travel forward at a second distance H to travel to the second docking area based on the cleaning robot deviating to the left and the graphic identifier located on the front surface of the cleaning robot; controlling the cleaning robot to turn right at the steering angle F and travel forward at the first distance G, and then turn left at the steering angle F and travel back at the second distance H to travel to the second docking area based on the cleaning robot deviating to the left and the graphic identifier located on the rear surface of the cleaning robot; controlling the cleaning robot to turn left at the steering angle F and travel back at the first distance G, and then turn right at the steering angle F and travel forward at the second distance H to travel to the second docking area based on the cleaning robot deviating to the right and the graphic identifier located on the front surface of the cleaning robot; and controlling the cleaning robot to turn left at the steering angle F and travel forward at the first distance G, and then turn right at the steering angle F and travel back at the second distance H to travel to the second docking area based on the cleaning robot deviating to the right and the graphic identifier located on the rear surface of the cleaning robot. The first distance G is determined by an equation set forth as E/sin F, and the second distance H is determined by an equation set forth as E/tgF.

Steps S71˜S72 are preformed to confirm the position of the cleaning robot before travelling to the docking platform. Once it is found that the position where the cleaning robot is parked in the cleaning area cannot completely correspond to the position of the docking platform, there is a risk of falling when the cleaning robot travels to the docking robot. In order to ensure safety, the docking robot needs to determine whether a parking position of the cleaning robot in the cleaning area corresponds exactly to a position of the docking platform. Only when there is a complete correspondence, the docking robot sends a confirmation instruction to inform the data processing system, thereby controlling the cleaning robot to travel from the second docking area to the first docking area. If the parking position of the cleaning robot in the cleaning area does not completely correspond to the position of the docking platform, the docking robot will inform the data processing system to adjust a position of the cleaning robot, so that the cleaning robot is parked in the cleaning area in position to correspond exactly to the position of the docking platform.

When the docking robot loaded with the cleaning robot is called to the second cleaning area, the above steps S2 to S10 are executed. In step S5, the docking robot travels to the first docking area of the second cleaning area. In step S6, the data processing system issues the second travel instruction to the cleaning robot carried by the docking robot. In step S6, the cleaning robot is controlled to travel from the docking platform of the docking robot in the first docking area to the second docking area in the second cleaning area. When the cleaning robot needs to travel from the first docking area to the second docking area, the cleaning robot may travel directly according to the second travel instruction.

The present invention provides a docking method using a cleaning robot to complete cleaning on a solar panel or a solar panel array, and using a docking robot to transfer the cleaning robot between multiple solar panel arrays, thereby to complete a cleaning operation on a large number of solar panels and panel arrays in a photovoltaic power station in a shortest time.

The above-described disclosure is only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Control Method of Cleaning System

The present invention relates to a cleaning system and a cleaning method of cleaning solar panels.

Under a circumstance that fossil fuels are declining, solar energy, as a new renewable energy source, has become an important part of mankind's energy use. In the past ten years, solar energy application technologies have been rapidly developed in countries around the world.

Since a working environment of solar panels can only be outdoors, a biggest problem that affects their work is not wind, rain, thunder, and lightning, but dust and snow accumulated all year round. Dust or other attachments attached to the solar panels will affect a light transmittance of the panels and hinder photoelectric efficiency, which will seriously affect efficiency of the panels to directly obtain sunlight, thereby reducing energy absorption and conversion efficiency of the panels, and reducing power generation efficiency.

Therefore, each photovoltaic power station needs to clean surfaces of the solar panels. It is obvious that manual cleaning is inefficient and risky. Correspondingly, the industry has developed a solar panel cleaning robot to clean the surfaces of the solar panels, which can effectively improve a cleaning efficiency without potential personal safety hazards associated with high-rise cleaning operations.

Since a placement of solar panels or panel arrays is not set in a block, but in multiple locations in a certain region, there is a large space between solar panels or panel arrays at different positions in the region. Cleaning robots cannot directly span these space intervals on different solar panels. If a cleaning robot is installed on each of the solar panels, not only is a hardware cost too high, but usage efficiency of each of the cleaning robot is too low, which will result in greater waste of resources.

Based on the above problems, we need to invent an intelligent cleaning system, including a cleaning device, a shuttling device, and a data processing system. The cleaning device can complete effective cleaning on a single solar panel or panel array. The shuttling device can transfer the cleaning robot from one solar panel array to another solar panel array. The data processing system can remotely dispatch and control the cleaning robot to efficiently complete a cleaning work on different panel arrays.

An object of the present invention is to provide a control method of a cleaning system to solve a technical problem that a large number of solar panels and panel arrays need to be cleaned.

In order to achieve the above objective, the present invention provides the control method of the cleaning system, including following steps: a first control step, controlling a shuttling robot to carry a cleaning robot to a cleaning region; a cleaning control step, controlling the cleaning robot to perform a cleaning operation on an upper surface of the cleaning region; and a second control step, controlling the shuttling robot to carry the cleaning robot out of the cleaning region.

Furthermore, before the first control step, the control method further includes: an information acquisition step, acquiring an operation region information and an operation task information; and a step of calculating a number of robots, calculating a number of the cleaning robots and a number of the shuttling robots that need to be dispatched; wherein the operation region information includes a map of an operation region, the operation region includes all of the cleaning regions and a passage region between two or more of the cleaning regions, at least one positioning point is set in the passage region, at least one identifiable label is set at each of the positioning point, and each of the positioning point is set with at least one identifiable label storing a position and a serial number of the positioning point; the operation region information further includes a serial number, a size, and a position of each of the cleaning region in the operation region, and the position and the serial number of the at least one positioning point in the operation region; and the operation task information includes the serial number of the cleaning region that needs to be cleaned and an operation time range allowed to perform the cleaning operation.

Furthermore, the step of calculating the number of the robots includes following steps: a speed acquisition step, acquiring a traveling speed of the cleaning robot and a traveling speed of the shuttling robot; a total working-hours calculation step, calculating a working-hours required to complete a cleaning task in each of the cleaning region according to the size of the cleaning region need to be cleaned and the traveling speed of the cleaning robot; a step of calculating the number of the cleaning robots, calculating the number M of the cleaning robots that need to be dispatched according to a total number of the cleaning regions that need to be cleaned, the working-hours required to complete the cleaning task in each of the cleaning region, and the operation time range; a distance calculation step, calculating a total distance that the shuttling robot needs to travel according to the position of the cleaning region that needs to be cleaned; and a step of calculating the number of the shuttling robots, calculating the number N of the shuttling robots need to be dispatched according to the total distance and the traveling speed of the shuttling robots.

Furthermore, the first control step or the second control step further includes: a step of controlling a travel of the shuttling robot, controlling the shuttling robot to travel to a first shuttling region of the cleaning region, wherein the step of controlling the travel of the shuttling robot includes following steps: a first instruction launching step, launching a first command to at least one of the shuttling robots, wherein the first command includes the serial number of the shuttling robot and a recommended route of the shuttling robot, and further includes an information of the at least one positioning point positioned on the recommended route and a preset travel direction corresponding to each of the positioning point; a travel data acquisition step, when the shuttling robot travels to any of the positioning point, acquiring the information of the positioning point and a real-time travel direction of the shuttling robot; a position comparison step, determining whether the positioning point is in the recommended route or not, if not, returning to the first instruction launching step, if yes, executing a next step; a direction comparison step, determining whether an actual travel direction of the shuttling robot at the positioning point is consistent with the preset travel direction corresponding to the positioning point or not, if not, determining that the shuttling robot is in a wrong direction, and executing the next step; and a second instruction launching step, launching a second command to the shuttling robot going the wrong direction, and adjusting the travel direction of the shuttling robot to the preset travel direction corresponding to the positioning point according to the recommended route.

Furthermore, the control method of the cleaning system further including following steps: a passage region setting step, setting up two or more of the passage regions to form a passage network for at least one of the robots to travel; a positioning point setting step, setting at least one of positioning points in the passage network uniformly; and a label setting step, setting at least one identifiable label at each of the positioning points, wherein the identifiable label stores an information of the positioning point including a position and a serial number of the positioning point of the identifiable label.

Furthermore, the control method of the cleaning system further including following steps: an electronic compass setting step, setting an electronic compass in each of the shuttling robot to obtain a real-time travel direction of the shuttling robot.

Furthermore, the first control step includes following steps: a travel control step of the shuttling robot, controlling the shuttling robot loaded with the cleaning robot to travel to a first shuttling region of the cleaning region, wherein the first shuttling region is a region outside the cleaning region and next to a side of the cleaning region; a docking control step, after acquiring an in-position signal of the shuttling robot, controlling the shuttling robot to dock with the cleaning region; and a transfer control step of the cleaning robot, after acquiring a docking completion signal, controlling the cleaning robot to travel to the cleaning region, and sending a transfer completion signal.

Furthermore, the second control step includes following steps: a travel control step of the shuttling robot, controlling an unloaded shuttling robot to travel to a first shuttling region of the cleaning region, wherein the first shuttling region is a region outside the cleaning region and next to a side of the cleaning region; a docking control step, after acquiring an in-position signal of the shuttling robot, controlling the shuttling robot to dock with the cleaning region; and a transfer control step of the cleaning robot, after acquiring an in-position signal of the cleaning robot, controlling the cleaning robot to travel from the cleaning region to a shuttling platform of the shuttling robot, and sending a transfer completion signal.

Furthermore, the control method of the cleaning system before the docking control step, the control method further includes: an initial adjustment control step of the shuttling robot, controlling the shuttling robot to adjust a height and an inclination angle of the shuttling platform and to adjust a position of the shuttling robot; and wherein the initial adjustment control step of the shuttling robot further includes: an initial adjustment control step of the shuttling platform, controlling the shuttling robot to adjust an angle and a height of the shuttling platform so that an upper surface of the shuttling platform and an upper surface of the cleaning region positioned on a same plane; and/or, a direction adjustment control step of the shuttling platform, controlling the shuttling robot to adjust a direction of an access opening of the shuttling platform so that the access opening of the shuttling platform faces the cleaning region; and/or, a distance adjustment control step, controlling the shuttling robot to adjust a distance between the shuttling platform and a border of the cleaning region so that the distance between the shuttling platform and the border of the cleaning region being less than a preset threshold; wherein when the upper surface of the shuttling platform and the upper surface of the cleaning region are on the same plane, the access opening of the shuttling platform faces the cleaning region, and the distance between the shuttling platform and the border of the cleaning region is less than the preset threshold, the shuttling robot sends a shuttling robot in-position signal.

Furthermore, after the transfer control step of the cleaning robot, the control method further includes following steps: an undocking control step, after acquiring the transfer completion signal, controlling the shuttling robot to undock so that the upper surface of the shuttling platform leaves from the upper surface of the cleaning region; a re-adjustment control step of the shuttling platform, controlling the shuttling robot to adjust the height and the angle of the shuttling platform, so that the height of the shuttling platform is lower to a lowest point and the shuttling platform remains in a horizontal state; and a departing control step of the shuttling robot, controlling the shuttling robot to leave the cleaning region.

Furthermore, the docking control step further includes controlling the shuttling robot to extend a bridge board to connect the upper surface of the shuttling platform with the upper surface of the cleaning region, and when the docking is completed, the shuttling robot sending the docking completion signal to a data processing system; and wherein the undocking control step further includes controlling the shuttling robot to retract the bridge board so that the upper surface of the shuttling platform separated from the upper surface of the cleaning region, and when the docking is completed, the shuttling robot sending the docking completion signal to the data processing system.

Furthermore, in the cleaning control step, after acquiring the transfer completion signal, the cleaning robot is controlled to perform cleaning operation on an upper surface of a solar panel.

Furthermore, before the docking control step, the second control step further includes following steps: a position detection control step of the cleaning robot, controlling the shuttling robot to determine whether the cleaning robot is positioned in a second shuttling region or not, if yes, the shuttling robot sending the in-position signal of the cleaning robot to a data processing system, if not, executing a next step; and a position adjustment control step of the cleaning robot, controlling the cleaning robot to adjust a position to the second shuttling region, and the shuttling robot or the cleaning robot sending the in-position signal of the cleaning robot to the data processing system.

Compared with the conventional art, an advantage of the present invention is to provide a control method of a cleaning system to complete an intelligent cleaning work of a large number of solar panels, and dispatch an appropriate number of cleaning robots and shuttling robots according to a workload of the cleaning operation. The cleaning robot is configured to complete the cleaning work on the solar panels or solar panel array, and the shuttling robot is configured to transfer the cleaning robot between multiple solar panel arrays, which can complete a cleaning task of all the solar panels and panel arrays in a shortest time.

BRIEF DESCRIPTION OF FIGURES

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those skilled in the art, without creative work, other drawings can be acquired based on these drawings.

FIG. 1 is a schematic diagram of an operation region according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a working state of a cleaning system according to an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of the cleaning system according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a cleaning region according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a shuttling robot when a shuttling platform is flat according to an embodiment of the present invention.

FIG. 6 is a schematic structural diagram of the shuttling robot when the shuttling platform is tilted according to an embodiment of the present invention.

FIG. 7 is a schematic structural diagram of a top of a shuttling device according to an embodiment of the present invention.

FIG. 8 is a schematic structural view of a bottom of the shuttling device in a direction according to an embodiment of the present invention.

FIG. 9 is a schematic structural view of the bottom of the shuttling device in another direction according to an embodiment of the present invention.

FIG. 10 is a schematic structural view of a height adjustment device in an unfolded state according to an embodiment of the present invention.

FIG. 11 is a schematic exploded structure diagram of the height adjustment device in the unfolded state according to an embodiment of the present invention.

FIG. 12 is a schematic structural view of the height adjustment device in a folded state according to an embodiment of the present invention.

FIG. 13 is a schematic functional block diagram of electronic devices of the cleaning system according to an embodiment of the present invention.

FIG. 14 is a flowchart of a control method of a cleaning system according to an embodiment of the present invention.

FIG. 15 is a flowchart of a preparation step according to an embodiment of the present invention.

FIG. 16 is a flowchart of a step of calculating a number of robots according to an embodiment of the present invention.

FIG. 17 is a flowchart of a first control step according to an embodiment of the present invention.

FIG. 18 is a flowchart of a step of controlling a travel of the shuttling robot according to an embodiment of the present invention.

FIG. 19 is a flowchart of a first adjustment control step of the shuttling robot according to an embodiment of the present invention.

FIG. 20 is a flowchart of a second control step according to an embodiment of the present invention.

FIG. 21 is a flowchart of a position detection control step of a cleaning robot according to an embodiment of the present invention.

FIG. 22 is a flowchart of a position adjustment control step of the cleaning robot according to an embodiment of the present invention.

FIG. 23 is a flowchart of a directional positioning step according to an embodiment of the present invention.

FIG. 24 is a flowchart of a step of fine direction adjustment according to an embodiment of the present invention.

The reference numbers in the figures are given in the disclosure below.

DETAILED DESCRIPTION OF EMBODIMENTS

The following describes the preferred embodiments of the present disclosure with reference to the accompanying drawings of the specification to exemplify that the present disclosure can be implemented. These embodiments can completely introduce the technical content of the present disclosure to those skilled in the art, making the technical content of the present disclosure clearer and easy to understand. However, the present disclosure can be embodied by many different forms of embodiments, and the scope of protection of the present disclosure is not limited to the embodiments mentioned in the text.

In the drawings, components with the same structure are represented by the same numerals, and components with similar structures or functions are represented by similar numerals. When a component is described as being “connected to” another component, the two can be understood as directly “connected”, or one component is “connected” to the other component through an intermediate component.

As shown in FIG. 1, each of solar panel array 101 includes a plurality of solar panels 102 (referred to as panels) spliced together, and a plurality of solar panel arrays 101 and/or a plurality of solar panels 102 can be disposed in an array. A passage region 103 is formed between adjacent two of the solar panel arrays 101 or adjacent two of the solar panels 102. In the present embodiment, a plurality of passage regions 103 that are cross-connected to each other form a crisscross passage network.

As shown in FIG. 2 and FIG. 3, the present embodiment provides a cleaning system, including a cleaning robot 200, a shuttling robot 300, and a data processing system 400. An operation region 100 is an operating region of the cleaning robot 200 and the shuttling robot 300 to complete cleaning operations of the solar panels.

During a normal operation of a solar power station, some solar panels or solar panel arrays will be contaminated with dust or stains and need to be cleaned. Each of the solar panel or each of the solar panel array that needs to be cleaned is a cleaning region 500. The cleaning robot 200 can complete cleaning operations on the solar panel or the solar panel array, and can effectively clean every region on the panel or the panel array. The shuttling robot 300 can carry the cleaning robot 200 from a storage place of the cleaning robot to an upper surface of the cleaning region 500 (panel or panel array that needs to be cleaned), from an upper surface of a cleaned panel array to another upper surface of the cleaning region 500 (panel or panel array that needs to be cleaned), or from a cleaned upper surface of the cleaning region 500 to the storage place of the cleaning robot.

As shown in FIG. 4, preferably, each of the cleaning region 500 is a group of panel arrays to composite in rectangular, and its peripheral edges are respectively defined as an upper end 501 of the cleaning region, a lower end 502 of the cleaning region, a left end 503 of the cleaning region, and a right end 504 of the cleaning region.

When the cleaning robot 200 is carried by the shuttling robot 300 to the cleaning region 500, preferably, the cleaning robot 200 travels from the left end 503 of the cleaning region or the right end 504 of the cleaning region to the cleaning region 500. Similarly, specifically, when the cleaning robot 200 is transferred from the cleaning region 500 by the shuttling robot 300, preferably, the cleaning robot 200 travels from the left end 503 of the cleaning region or the right end 504 of the cleaning region to the shuttling robot 300.

As shown in FIG. 4, each of the cleaning region 500 is provided with a first shuttling region 505 and a second shuttling region 506 that are arranged opposite to each other, and the first shuttling region 505 and the second shuttling region 506 are respectively provided at both sides of the left end 503 of the cleaning region or the right end 504 of the cleaning region. In the present embodiment, the first shuttling region 505 is a region outside the cleaning region 500 that is adjacent to the right end 504 of the cleaning region, and the second shuttling region 506 is a region inside the cleaning region that is adjacent to the right end 504 of the cleaning region. Preferably, the first shuttling region 505 and the second shuttling region 506 are adjacent to a lower part of the right end 504 of the cleaning region.

To determine whether the solar panel arrays in the photovoltaic power station need to be cleaned, there are several common solutions as follows. First is a partition estimation method. A natural environment of multiple panel arrays adjacent to each other in a small region (region can be freely defined) is similar, so a degree of pollution of the panels in this region is similar. Randomly select a solar panel, detecting its pollution level, and determine whether the panel needs to be cleaned or not; if the panel needs to be cleaned, all the panels in the region need to be cleaned. If the operation region of a power station covers a large region, a large operation region can be divided into multiple small operation regions, and a sampling inspection can be carried out in different regions. Second is a regular cleaning method. According to the natural environment of the operation region, all the panel arrays in the operation region are cleaned regularly. If there is a lot of sand or precipitation in the operation region, the surface of the solar panel has heavier attachments, and it may need to be cleaned one to two times a day. If there is less of sand or precipitation in the operation region, the surface of the solar panel has less attachments, and it can be cleaned every 10 days. The above two methods both perform indiscriminate processing on multiple solar panel arrays, and are relatively inaccurate. There may be a situation where some panels have less attachments on the surface and are cleaned by the cleaning robot. Third method is a separate detection method, which carefully detects a pollution degree of each of the panel array and determines which panel arrays or panels need to be cleaned. This method is more accurate but less efficient.

As shown in FIG. 3, the data processing system 400, preferably a physical server or a cloud server, is connected to the cleaning robot 200 and/or the shuttling robot 300 to realize data exchange between the cleaning robot 200 and/or the shuttling robot 300, is configured to launch commands to the cleaning robot 200 and/or the shuttling robot 300, and is configured to obtain feedback data from the cleaning robot 200 and/or the shuttling robot 300 at the same time, such as real-time position coordinates of the above two robots and image data collected by the two robots in real time. As a result, the data processing system 400 can realize real-time monitoring of a cleaning operation process of the cleaning robot 200, a traveling of the shuttling robot 300, and a shuttling process, control the shuttling robot 300 to move normally in the passage network of the operation region 100, and control the shuttling robot 300 docked with the solar panel array 101 in the cleaning region.

After the data processing system 400 acquires an information (certain panel numbers) of which solar panel array 101 needs to be cleaned, combined with the time allowed for a cleaning operation in the photovoltaic power station, it estimates a number of the shuttling robot 300 and the cleaning robot 200 required for the cleaning operation. The data processing system 400 calls the shuttling robot 300 to send the cleaning robot 200 to a certain panel array that needs cleaning. The cleaning robot 200 performs a comprehensive cleaning operation on the panel array. After the cleaning operation of the panel array is completed, the data processing system 400 calls the shuttling robot 300 to carry the cleaning robot 200 from an upper surface of one panel array that has been cleaned to an upper surface of another panel array that needs to be cleaned, or to the storage place of the cleaning robot.

The cleaning robot 200 is a product independently developed by the present applicant. Please refer to a series of solar panel cleaning robot related patents applied by the present applicant from 2016 to 2018. After the cleaning robot 200 is transported to a solar panel array, the cleaning robot can travel freely on the panel array, travel around every corner of the panel array, and complete the cleaning operation of an entire panel array while traveling, which will not be repeated here.

As shown in FIG. 5, the present embodiment provides a shuttling robot 300, which includes a vehicle 310, a shuttling device 320, an angle adjustment device 330, and/or a height adjustment device 350.

As shown in FIG. 5 to FIG. 7, the shuttling device 320 includes a shuttling platform 321 for placing a cleaning robot 200. The shuttling platform 321 is rotatably connected to a top or an upper half of the vehicle 310. In a shuttling process, the cleaning robot 200 travels from an upper surface of the shuttling platform 321 to an upper surface of a panel (on-board process), or from the upper surface of the panel to the upper surface of the shuttling platform 321 (off-board process).

As shown in FIG. 7, the shuttling device 320 includes a baffle 322, which protrudes from an edge of the shuttling platform 321 and is perpendicular to the shuttling platform 321. The baffle 322 includes a left baffle 322 a, a rear baffle 322 b, and a right baffle 322 c that are connected in sequence and are enclosed in a concave shape. An access opening 323 is formed between a free-end of the left baffle 322 a and a free-end of the right baffle 322 c.

The shuttling device 320 further includes an anti-collision component 324, preferably an anti-collision bar, disposed on an inner sidewall of the rear baffle 322 b. Alternatively, an inner sidewall of the left baffle 322 a and/or an inner sidewall of the right baffle 322 c can also be disposed with the anti-collision bar (not shown).

The shuttling device 320 further includes a bridge board 327 and a first telescopic rod 328. The bridge board 327 is slidably mounted to the upper surface of the shuttling platform 321. An end of the first telescopic rod 328 is connected to a lower surface of the shuttling platform 321, and another end is connected to a lower surface of the bridge board 327. The first telescopic rod 328 is a hydraulic telescopic rod or an electric telescopic rod. The first telescopic rod 328 has a first telescopic rod controller 329. When the first telescopic rod controller 329 receives a command electrical signal, it can control the first telescopic rod 328 to adjust a length of the first telescopic rod. When a length of the first telescopic rod 328 is reduced to the shortest length, the bridge board 327 is positioned on the upper surface of the shuttling platform 321. When the length of the first telescopic rod 328 is extended, the bridge board 327 extends a certain distance in a direction toward the access opening 323. When a distance between the shuttling robot 300 and the solar panel array 101 is the shortest and an angle of the shuttling platform 321 is adjusted to be consistent with the solar panel array 101, the first telescopic rod 328 extends a certain distance, and the bridge board 327 extends toward the solar panel array 101, so that the shuttling platform 321 is connected to the solar panel array 101. Thus, it is convenient for the cleaning robot 200 to smoothly travel from the shuttling platform 321 to the solar panel array 101 (i.e., cleaning region), or from the solar panel array 101 (i.e., cleaning region) to the shuttling platform 321. After a transfer of the cleaning robot 200 is completed, the length of the first telescopic rod 328 is minimized, and the bridge board 327 is retracted to the upper surface of the shuttling platform 321.

As shown in FIG. 6, the vehicle 310 includes a vehicle body 311. Both left and right sides of a bottom of the vehicle body 311 are respectively disposed with traveling devices 312 (such as wheels), preferably crawler wheel sets, which have good adaptability to a road surface and a passable performance is good.

As shown in FIG. 10, the vehicle body 311 includes a vehicle bracket 313. The vehicle bracket 313 is a three-dimensional frame whose overall shape is similar to a rectangular parallelepiped. The vehicle bracket 313 includes a plurality of horizontally disposed transverse-supports and a plurality of vertically disposed longitudinal-supports, and the longitudinal-supports are perpendicular to a horizontal plane or maintain a certain included angle with the horizontal plane. One or more of the baffle is fixed on a top surface, side surfaces, or a bottom surface of the vehicle bracket 313, and the baffles and the vehicle bracket 313 jointly enclose the body 311.

As shown in FIG. 5 to FIG. 6 and FIG. 10 to FIG. 12, a height adjustment device 350 is disposed on a top or upper part of the vehicle 310, an angle adjustment device 330 is disposed on a top of the height adjustment device 350, and the shuttling platform 321 is rotatably connected to a top of the angle adjustment device 330, and is configured to control an inclination angle of the shuttling platform 321. As shown in FIGS. 10-12, the angle adjustment device 330 includes a sliding shaft 331, a second telescopic rod 332, a rotating shaft 333, and a telescopic rod mounting frame 334. The second telescopic rod 332 is a hydraulic telescopic rod or an electric telescopic rod. The second telescopic rod 332 has a second telescopic rod controller 335. When the second telescopic rod controller 335 receives a command electrical signal, it can control the second telescopic rod 332 to adjust a length of the second telescopic rod.

Both ends of the sliding shaft 331 are slidably installed in two of first sliding grooves 325 c, 325 d. The telescopic rod mounting frame 334 is fixed to the height adjustment device 350. An end of the second telescopic rod 332 is rotatably connected to a middle of the sliding shaft 331, another end of the second telescopic rod 332 is rotatably connected to the telescopic rod mounting frame 334, a middle of the rotating shaft 333 is fixedly connected to the height adjustment device 350, and two ends of the rotating shaft are rotatably mounted to two of rotating shaft bases 326 a, 326 b via base-through-holes 326 c, 326 d, so that the rotating shaft 333 can rotate relative to the rotating shaft bases 326 a, 326 b. When a length of the second telescopic rod 332 changes, the inclination angle of the shuttling platform 321 can be adjusted to be larger or smaller.

As shown in FIG. 5 to FIG. 6 and FIG. 10 to FIG. 12, the height adjustment device 350 includes a frame 351, a first bracket 352, a second bracket 353, and a pin shaft 354. The shuttling device 320 is rotatably connected to an end of the frame 351. An upper end of the first bracket 352 is slidably connected to the frame 351, and a lower end of the first bracket is rotatably connected to the top of the vehicle 310. An upper end of the second bracket 353 is rotatably connected to the frame 351, and a lower end the second bracket is slidably connected to the top of the vehicle 310. The pin shaft 354 passes through a middle of the first bracket 352 and a middle of the second bracket 353, and the second bracket 353 is rotatably connected to the first bracket 352 via the pin shaft 354.

The height adjustment device 350 further includes two of first guide rails 355 a, 355 b disposed oppositely and two of second guide rails 356 a, 356 b disposed oppositely. The first guide rails 355 a, 355 b are horizontally mounted on the frame 351. Two opposite surfaces of the two of first guide rails are respectively defined with two of second sliding grooves 357 a, 357 b opposite to each other. The second guide rails 356 a, 356 b are horizontally installed on the top of the vehicle 310. Two opposite surfaces of the two of second guide rails are respectively defined with two of third sliding grooves 358 a, 358 b opposite to each other.

In the angle adjustment device 330, the telescopic rod mounting frame 334 is disposed under the frame 351 and is connected to the frame 351. A middle of the rotating shaft 333 is fixedly connected to an end of a top or an upper half of the frame 351, and two ends of the rotating shaft are rotatably installed to the base-through-holes 326 c, 326 d of the two of rotating shaft bases 326 a, 326 b to allow the rotating shaft 333 to rotate relative to the rotating shaft bases 326 a, 326 b.

In the height adjustment device 350, the first bracket 352 includes two of first link 3521 a, 3521 b disposed in parallel, and a first cross beam 3522. Two ends of the first cross beam 3522 are respectively connected to the first link 3521 a, 3521 b. An outer side of an upper end of the first link 3521 a or 3521 b is disposed with a first pulley 3523 a or 3523 b, and two of the first pulleys 3523 a, 3523 b are slidably mounted in the second sliding grooves 357 a and 357 b, respectively. The second bracket 353 includes two of second links 3531 a, 3531 b disposed in parallel, and a second cross beam 3532. Two ends of the second cross beam 3532 are respectively connected to the second links 3531 a, 3531 b. An outer side of a lower end of the second link 3531 a or 3531 b is disposed with a second pulley 3533 a or 3533 b, and two of the second pulleys 3533 a, 3533 b are slidably mounted in the third sliding grooves 358 a, 358 b, respectively.

The height adjustment device 350 further includes a third telescopic rod 359, an end of which is rotatably connected to the first bracket 352 or the second bracket 353, and another end of which is rotatably connected to the vehicle 310. Preferably, a third cross beam (not shown in the figure) is disposed on the first bracket 352, the two ends of the first bracket are vertically connected to two of the first link 3521 a, 3521 b, respectively. A sleeve 3524 is sheathed outside the third cross beam. An upper end of the three telescopic rod 359 is hinged to the sleeve 3524 and can rotate around the third cross beam.

The third telescopic rod 359 is a hydraulic telescopic rod or an electric telescopic rod. The third telescopic rod 359 has a second telescopic rod controller 335. When the third telescopic rod controller 360 receives a command electrical signal, it can control the second telescopic rod 332 to adjust a length of the second telescopic rod.

The third telescopic rod 359 is a hydraulic telescopic rod or an electric telescopic rod, which is connected to a processor 340 (refer to FIG. 18), and the processor 340 can send electrical signals to control the first telescopic rod 328, the second telescopic rod 332, and the third telescopic rod to adjust their length, respectively.

As shown in FIG. 3, when the shuttling robot 300 travels to a vicinity of the cleaning region 500 (solar panel or panel array), the data processing system 400 controls the shuttling robot 300 to adjust its position and direction and travels to the first shuttling region 505 at the lower part of the right end of the cleaning region, and to make the access opening 323 of the shuttling device 320 right toward a direction of the cleaning region 500.

In the present embodiment, when the shuttling robot 300 is traveling in the passage region 103, the lengths of the second telescopic rod 332 and the third telescopic rod 359 are minimized, the height of the height adjustment device 350 is minimized, the shuttling platform 321 is disposed horizontally on the top of the vehicle 310, and an included angle between the shuttling platform 321 and the upper surface of the vehicle 310 is zero degree. If the cleaning robot 200 is placed on the shuttling platform 321, it can remain stable during transportation and will not slip off.

As shown in FIG. 3, when the shuttling robot 300 travels to the first shuttling region 505 of the cleaning region 500, the processor 340 sends electrical signals to the second telescopic rod controller 335 and/or the third telescopic rod controller 360 to control the second telescopic rod 332 and/or the third telescopic rod 359 to extend. The third telescopic rod 359 is extended, so that the frame 351 at the upper end of the height adjustment device 350 and the shuttling platform 321 are raised. The second telescopic rod 332 is extended, so that the end of the shuttling platform 321 away from the rotating shaft 333 is propped up, and another end of the shuttling platform rotates around the rotating shaft 333, so that the included angle between the shuttling platform 321 and the upper surface of the vehicle 310 gradually increases until it is consistent with an inclination angle of the cleaning region 500 (solar panel or panel array) relative to the horizontal plane, so that the upper surface of the shuttling platform 321 and the upper surface of the panel in the cleaning region 500 are on a same plane.

Similarly, after the shuttling process is completed, the processor 340 sends electrical signals to the second telescopic rod controller 335 and/or the third telescopic rod controller 360 to control the second telescopic rod 332 and/or the third telescopic rod 359 to be shortened. The second telescopic rod 332 is shortened, so that the included angle between the shuttling platform 321 of the shuttling device 320 and the horizontal plane is reduced to zero degree, and the shuttling platform 321 is restored from an inclined state to a horizontal state. The third telescopic rod 359 is shortened, so that the frame 351 at the upper end of the height adjustment device 350 and the shuttling platform 321 are lowered to the lowest point, and the shuttling robot 300 can then travel to other positions.

During an extension or contraction of the second telescopic rod 332, the two ends of the rotating shaft 333 rotate in the two of the base-through-holes 326 c, 326 d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325 c, 325 d, so that a bottom of the shuttling platform 321 can keep stable during an inclination angle adjustment process without shaking.

During an extension or contraction of the third telescopic rod 359, the lower end of the first bracket 352 rotates relative to the vehicle, and the first pulleys 3523 a, 3523 b on the left and right sides of the upper end of the first bracket are slid in the second sliding grooves 357 a, 357 b, respectively. The upper end of the second bracket 353 rotates relative to the shuttling device 320, and the second pulleys 3533 a, 3533 b on the left and right sides of the lower end of the second bracket are slid in the third sliding grooves 358 a, 358 b, respectively. Shape and size of the first bracket 352 and the second bracket 353 are approximately same. The first link 3521 b and the second link 3531 b have same length. A rotation angle of the lower end of the first bracket 352 is same as a rotation angle of the upper end of the second bracket 353. A sliding distance of the upper end of the first bracket 352 is same as a sliding distance of the lower end of the second bracket 353. During a lifting process of the height adjustment device 350, the shuttling device 320 is always stable and will not shake. If the cleaning robot 200 is loaded on the shuttling platform 321, it can be ensured that the cleaning robot 200 will not slip off the shuttling device 320.

If the inclination angles of all solar panels in the operation region 100 are the same and remain unchanged, an extension distance of the second telescopic rod 332 can be a preset constant length, each time the second telescopic rod 332 is extended, an adjusted inclination angle of the shuttling platform 321 is same as an inclination angle of the panel.

If all the solar panels in the operation region 100 have a same height, the extension distance of the third telescopic rod 332 can also be a preset constant length. The extension distance of the third telescopic rod 359 can be the preset constant length. Each time the third telescopic rod 359 is extended, a rising height of the shuttling platform 321 is same, which is greater than or equal to a height of the lower end of the panel.

If the inclination angles and/or heights of all solar panels in the operation region 100 are different. The data processing system 400 launches commands to the processor 340 of the shuttling robot 300 according to a panel height and a panel inclination angle of the cleaning region 500. The processor 340 launches commands to the third telescopic rod controller 360 to adjust a height of the height adjustment device 350 and a height of the shuttling platform 321. The processor 340 launches commands to the second telescopic rod controller 335 to adjust the inclination angle of the shuttling platform 321.

When the inclination angle of the shuttling platform 321 is adjusted, the data processing system 400 receives a feedback information from the shuttling robot 300 and sends an action command to the cleaning robot 200 to control the cleaning robot 200 traveling from the shuttling platform 321 in the first shuttling region 505 to the solar panel (referred to as upper plate) in the second shuttling region 506, or traveling from the solar panel in the second shuttling region 506 to the shuttling platform 321 (referred to as lower plate) in the first shuttling region 505, so as to complete the shuttling process.

As shown in FIG. 12, the shuttling robot 300 of the present embodiment further includes a circuit board 314, which is preferably disposed in the vehicle 310. The processor 340 is disposed on the circuit board 314 as a control device configured to connect to the shuttling robot 300. The processor 340 is connected to the first telescopic rod controller 329, the second telescopic rod controller 335, and the third telescopic rod controller 360, respectively, and is configured to launch control commands to the first telescopic rod controller 329 and/or the second telescopic rod controller 335, and/or the third telescopic rod controller 360.

As shown in FIG. 13, the cleaning robot 200 is disposed with a first wireless communication unit 201. The shuttling robot 300 is disposed with a second wireless communication unit 301, and the data processing system 400 is disposed with a third wireless communication unit 401. The first wireless communication unit 201 and the second wireless communication unit 301 are wirelessly connected to the third wireless communication unit 401, respectively, so that the cleaning robot 200 or the shuttling robot 300 can exchange data in a wireless communication manner with the data processing system 400.

As shown in FIG. 4, when the shuttling robot 300 travels to the vicinity of the cleaning region 500 (solar panel or panel array), the data processing system 400 controls the shuttling robot 300 to adjust its position and direction, and travels to the first shuttling region 505 at the lower part of the right end of the cleaning region, and to make the access opening 323 of the shuttling device 320 right toward the direction of the cleaning region 500.

As shown in FIG. 5 to FIG. 6 and FIG. 10 to FIG. 12, in the present embodiment, when the shuttling robot 300 is traveling in the passage region 103, the length of the second telescopic rod 332 is minimized, the shuttling platform 321 is disposed horizontally on the top of the vehicle 310, and the included angle between the shuttling platform 321 and the upper surface of the vehicle 310 is zero degree. If the cleaning robot 200 is placed on the shuttling platform 321, it can remain stable during transportation and will not slip off.

As shown in FIG. 4 to FIG. 6, when the shuttling robot 300 travels to the first shuttling region 505 of the cleaning region 500, the processor 340 sends an electrical signal to the second telescopic rod controller 335 to control the second telescopic rod 332 to extend, the end of the shuttling platform 321 away from the rotating shaft 333 is propped up, and another end of the shuttling platform rotates around the rotating shaft 333, so that the included angle between the shuttling platform 321 and the upper surface of the vehicle 310 gradually increases until it is consistent with an inclination angle of the cleaning region 500 (solar panel or panel array) relative to the horizontal plane, so that the upper surface of the shuttling platform 321 and the upper surface of the panel in the cleaning region 500 are on a same plane. As shown in FIG. 7 to FIG. 9, during an extension of the second telescopic rod 332, the two ends of the rotating shaft 333 rotate in the two of the base-through-holes 326 c, 326 d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325 c, 325 d, so that a bottom of the shuttling platform 321 can keep stable during an inclination angle adjustment process without shaking.

If the inclination angles of all solar panels in the operation region 100 are the same and remain unchanged, an extension distance of the second telescopic rod 332 can be a preset constant length, each time the second telescopic rod 332 is extended, an adjusted inclination angle of the shuttling platform 321 is same as an inclination angle of the panel.

If the inclination angles of all solar panels in the operation region 100 are different, the data processing system 400 launches commands to the processor 340 of the shuttling robot 300 according to a panel inclination angle of the cleaning region 500. The processor 340 launches commands to the second telescopic rod controller 335 to adjust the inclination angle of the shuttling platform 321.

When the inclination angle of the shuttling platform 321 is adjusted, the data processing system 400 receives a feedback information from the shuttling robot 300 and sends an action command to the cleaning robot 200 to control the cleaning robot 200 traveling from the shuttling platform 321 in the first shuttling region 505 to the solar panel (referred to as upper plate) in the second shuttling region 506, or traveling from the solar panel in the second shuttling region 506 to the shuttling platform 321 (referred to as lower plate) in the first shuttling region 505, so as to complete the shuttling process.

In the present embodiment, when the shuttling platform 321 is in an inclined state, a height of the lowest point of the shuttling platform 321 is greater than or equal to the lowest end of the solar panel or panel array in the operation region 100 (such as the lower end 502 of the cleaning region). A height of the highest point of the shuttling platform 321 is less than or equal to the highest end of the solar panel or panel array in the operation region 100 (such as the upper end 501 of the cleaning region), thereby ensuring that the shuttling platform 321 can be connected to a left side or a right side of the solar panel or panel array (such as the left end 503 or the right end 504 of the cleaning region) to form an all-round butt during the shuttling process.

Regardless of whether the shuttling platform 321 is in an inclined state or a flat state, the height of the lowest point of the shuttling platform 321 is substantially unchanged, and the height basically depends on a height of the top of the vehicle 310. Preferably, a shuttling position between the shuttling platform 321 and the panel is positioned at a lower part of the right side of the panel or panel array, wherein a height requirement for the vehicle 310 is relatively low. The lower a center of gravity of the vehicle 310 is, the more stable the shuttling robot 300 will be during a traveling process of carrying the cleaning robot, effectively preventing from bumps and shaking caused by uneven road surfaces.

As shown in FIG. 13, in the present embodiment, the shuttling robot 300 is further disposed with various data collection devices configured to collect various work data during a working process of the shuttling robot 300. The data collection devices include different types of sensors, including through-beam sensor 601, distance sensor 602, tilt sensor 603, positioning device 604, electronic compass 605, image sensor 606, lighting device 607, and obstacle avoidance sensor 608, and so on. Each of the above-mentioned sensors is wired or wirelessly connected to the processor 340. Original work data collected during an operation of the shuttling robot 300 is sent to the processor 340, and processed by the processor 340 to form preprocessed data. The original work data and/or the preprocessed data is sent to the data processing system 400 through the wireless communication unit to realize real-time monitoring of the shuttling robot 300 operation process and real-time control of the traveling process and/or the shuttling process of the shuttling robot 300.

As shown in FIG. 5 to FIG. 7, the through-beam sensor 601 includes a transmitter 601 a and a receiver 601 b disposed oppositely, which are respectively disposed on the inner sidewalls of the left baffle 322 a and the right baffle 322 c of the shuttling device 320. The transmitter 601 a and the receiver 601 b are close to the access opening 323, and are respectively disposed on both sides of the access opening 323. The through-beam sensor 601 is preferably a pair of through-beam infrared sensors. The infrared rays emitted by the transmitter 601 a are captured by the receiver 601 b. When the infrared rays are shielded, the processor 340 can determine that an item passes through the access opening 323.

When the cleaning robot 200 travels from an outside to the access opening of the shuttling device 320, the infrared rays between the transmitter 601 a and the receiver 601 b are shielded, and the through-beam sensor 601 can sense that a front end of the cleaning robot 200 is traveling to the shuttling device 320. When a whole of the cleaning robot 200 is traveled completely inside the shuttling device 320, the infrared rays between the transmitter 601 a and the receiver 601 b return to the unobstructed state, and the through-beam sensor 601 can sense that a back end of the cleaning robot 200 is also traveled to the shuttling device 320. Based on the real-time electrical signal of the through-beam sensor 601, the processor 340 can determine that the front end of the cleaning robot 200 is traveling to the shuttling device 320, or that the whole of the cleaning robot 200 is traveling completely into the shuttling device 320.

The distance sensor 602 is disposed on an inner sidewall of a middle of the rear baffle 322 b of the shuttling device 320, and is disposed opposite to the access opening 323. The distance sensor 602 is preferably a reflective infrared sensor. The reflective infrared sensor continuously emits infrared rays toward the access opening 323. If a reflected infrared rays can be received, it can be determined that the cleaning robot 200 enters the shuttling platform 321 from the access opening 323. Furthermore, a distance between the front end of the cleaning robot 200 and the rear baffle 322 b of the shuttling device 320 can be acquired according to a time of a received infrared rays.

When the cleaning robot 200 travels from the outside to the access opening of the shuttling device 320, the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling to the shuttling device 320 or not. At the same time, the distance between the front end of the cleaning robot 200 and the rear baffle 322 b can be acquired according to the time of the received infrared rays, the processor 340 acquires a value of the distance, and can monitor a progress of the cleaning robot 200 entering the shuttling device 320 in real time, thereby determining whether the whole of the cleaning robot 200 is traveling inside the shuttling platform 321 or not.

When the cleaning robot 200 travels out of the shuttling device 320 through the access opening, the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling in and out of the shuttling device 320. At the same time, the distance between the front end of the cleaning robot 200 and the rear baffle 322 b can be acquired according to the time of the received infrared rays, the processor 340 acquires the value of the distance, and can monitor a progress of the cleaning robot 200 leaving the shuttling device 320 in real time, thereby determining whether the whole of the cleaning robot 200 is traveling outside the shuttling platform 321 or not.

The tilt sensor 603 is preferably disposed on the lower surface of the shuttling platform 321 (refer to FIG. 8) to measure the included angle between the upper surface of the shuttling platform 321 and the horizontal plane (referred to as a platform tilt angle) in real time, and is configured to send a value of the platform tilt angle to the processor 340. If the inclination angles of all solar panels in the operation region 100 are different or the inclination angles of some panels are variable, each time the second telescopic rod 332 is extended, the tilt sensor 603 monitors the value of the platform tilt angle in real time and sends it to the processor 340. When the value of the platform tilt angle in real time is same as the inclination angle of the panel, the processor 340 sends a stop command to the second telescopic rod controller 335, so that the second telescopic rod 332 stops extending, therefore the platform tilt angle is same as the inclination angle of the panel.

In the present embodiment, the positioning device 604 is a radio frequency identification (RFID) reader, which is disposed inside or outside the vehicle 310, preferably at the bottom of the vehicle 310 or the front end of the shuttling platform 321, is configured to obtain real-time positions in the operation region, and the real-time positions of the vehicle 310 are sent to the processor 340.

In the present embodiment, a label positioning solution is adopted, a recommended route is preset in the passage region 103, the vehicle 310 is controlled to travel along the recommended route, and a set of identifiable tags are set at regular intervals on the recommended route, such as RFID tags. Each of the identifiable tag stores location coordinates of the tag in the operation region and other data. When the shuttling robot 300 travels to a certain positioning point, the RFID reader reads the preset RFID tag at the positioning point, the processor 340 acquires the real-time position of the shuttling robot 300, and optionally sends it to the data processing system 400. In other embodiments, the positioning device 604 can also be a high-precision global positioning system (GPS) positioning unit or a BEIDOU positioning unit, and can also obtain the real-time position of the shuttling robot 300.

The electronic compass 605 is preferably disposed inside or outside the vehicle 310 to obtain a real-time travel direction of the shuttling robot 300 and send it to the processor 340 for data processing and data analysis to determine whether the real-time travel direction of the shuttling robot 300 is consistent with a preset direction or not. If the shuttling robot 300 deviates from the preset direction, the processor 340 sends a command to the vehicle 310 to adjust the travel direction of the vehicle 310 in time.

Preferably, the image sensor 606 and/or the lighting device 607 are disposed at a front and/or rear of the vehicle 310, and the image sensor 606 is configured to collect real-time images and/or pictures of the front and/or rear of the vehicle 310 in real time, and send it to the processor 340. When the shuttling robot 300 travels in the passage region 103 of the operation region 100, an image content collected by the image sensor 606 includes an accessible region in the passage region 103 at any time and is sent to the processor 340. The processor 340 calculates an expected travel region covered by the vehicle 310 in a next period according to a real-time travel speed of the vehicle 310, and compares the expected travel region and a feasible travel region at each moment in real time to determine whether the vehicle 310 is still in the feasible travel region in the next period or not. If the expected travel region exceeds the feasible travel region, it proves that there is an obstacle on a travel route of the vehicle 310. The processor 340 needs to adjust the travel direction of the vehicle 310 in real time to prevent the vehicle 310 from hitting the obstacle during travel.

In other embodiments, the image content collected by the image sensor 606 can further include a border of the solar panel and/or the panel array, and the frame is displayed as a border line in the image. In other embodiments, after processing by a specific algorithm, the shuttling robot 300 can adjust the travel direction in real time with reference to a position of the border line, so that the shuttling robot 300 can travel in a straight line as much as possible.

When the shuttling robot 300 is traveling in a dark environment (such as night, cloudy, etc.), the lighting device 607 is configured to illuminate the passage region in front and/or behind the vehicle 310 for the image sensor 606 to collect the images and/or pictures normally. In some other embodiments, the image sensor 606 and/or the lighting device 607 can also be disposed on the left and/or right side of the vehicle 310 for real-time collection of real-time images and/or pictures on the left and/or right side of the vehicle 310. In some other embodiments, the image sensor 606 and/or the lighting device 607 can also be disposed on the side of the shuttling device 320, and a camera of the image sensor 606 towards the outside. When the height and the inclination angle of the shuttling platform 321 are adjusted to be consistent with the solar panel 102, the camera is right facing the solar panel 102.

The obstacle avoidance sensor 608, preferably an ultrasonic sensor, is disposed at the front and/or rear of the vehicle 310. During the traveling process of the shuttling robot 300, when the processor 340 acquires a sensing signal send from the obstacle avoidance sensor 608 at the front or rear, it can determine that there is an obstacle in the front or rear of the vehicle in a travel route that affect the driving, so that the processor 340 can adjust the travel direction of the shuttling robot 300 to avoid the obstacle. In other embodiments, the obstacle avoidance sensor 608 can also be disposed on the left and/or right side of the vehicle 310.

The present invention provides a cleaning system for cleaning solar panels. According to a workload of a cleaning operation, a suitable number of cleaning robots and shuttling robots are dispatched, and the cleaning robots are configured to complete the cleaning work on the solar panels or solar panel arrays. The shuttling robots are configured to transfer the cleaning robots between multiple solar panel arrays, which can complete the cleaning tasks of all solar panels and panel arrays in the shortest time.

As shown in FIG. 14, based on the aforementioned solar panel cleaning system, the present invention also provides a control method of a solar panel cleaning system, which is implemented by software in the data processing system. The data processing system 400 controls the cleaning robot 200 to complete the cleaning work on the solar panel array, and controls the shuttling robot 300 to transfer the cleaning robot between multiple solar panel arrays. The control method of the solar panel cleaning system includes following steps S1 to S5.

An information acquisition step S1, the data processing system acquires an operation region information and an operation task information. The operation region information includes a map of an operation region, the operation region includes all of the cleaning regions and a passage region between two or more of the cleaning regions. At least one positioning point is set in the passage region, at least one identifiable label is set at each of the positioning point, and each of the positioning point is set with at least one identifiable label storing a position and a serial number of the positioning point. The operation region information further includes a serial number, a size, and a position of each of the cleaning region in the operation region, and the position and the serial number of the at least one positioning point in the operation region. The operation task information includes the serial number of the cleaning region that needs to be cleaned and an operation time range allowed to perform the cleaning operation.

As shown in FIG. 15, the control method of the cleaning system further includes a preparation step, which specifically includes: a passage region setting step S101, setting up two or more of the passage regions to form a passage network for at least one of the robots to travel. A positioning point setting step S102, setting at least one of positioning points in the passage network uniformly. A label setting step S103, setting at least one identifiable label at each of the positioning points, wherein the identifiable label stores an information of the positioning point including a position and a serial number of the positioning point of the identifiable label. And an electronic compass setting step S104, setting an electronic compass in each of the shuttling robot to obtain a real-time travel direction of the shuttling robot. It has been explained above, and will not repeat it here.

A step of calculating a number of robots S2, the data processing system calculates a number of the cleaning robots and a number of the shuttling robots that need to be dispatched. As shown in FIG. 16, the step of calculating the number of the robots specifically includes following steps. A speed acquisition step S21, acquiring a traveling speed of the cleaning robot and a traveling speed of the shuttling robot. A total working-hours calculation step S22, calculating a working-hours required to complete a cleaning task in each of the cleaning region according to the size of the cleaning region need to be cleaned and the traveling speed of the cleaning robot. A step of calculating the number of the cleaning robots S23, calculating the number M of the cleaning robots that need to be dispatched according to a total number of the cleaning regions that need to be cleaned, the working-hours required to complete the cleaning task in each of the cleaning region, and the operation time range. A distance calculation step S24, calculating a total distance that the shuttling robot needs to travel according to the position of the cleaning region that needs to be cleaned. And, a step of calculating the number of the shuttling robots S25, calculating the number N of the shuttling robots need to be dispatched according to the total distance and the traveling speed of the shuttling robots.

As shown in FIG. 17, a first control step S3, the data processing system launches commands to a shuttling robot to control the shuttling robot to carry a cleaning robot to a cleaning region, where the cleaning region a solar panel or a solar panel array. The first control step includes following steps S31 to S37. A step of controlling a travel of the shuttling robot S31, the data processing system controls the shuttling robot loaded with a cleaning robot to travel to a first shuttling region of the cleaning region, where the first shuttling region is a region outside the cleaning region and next to a side of the cleaning region. An initial adjustment control step of the shuttling robot S32, the data processing system controls the shuttling robot to adjust a height and an inclination angle of the shuttling platform and to adjust a position of the shuttling robot. A docking control step S33, after acquiring an in-position signal of the shuttling robot, the data processing system controls the shuttling robot to dock with the cleaning region, and the shuttling robot extends out a bridge board to connect an upper surface of the shuttling platform with an upper surface of the cleaning region. A transfer control step of the cleaning robot S34, after acquiring a docking completion signal, the data processing system controls the cleaning robot to travel to a second shuttling region of the cleaning region, and sending a transfer completion signal, wherein the second shuttling region is a region inside the cleaning region and next to a side of the cleaning region. An undocking control step S35, the data processing system controls the shuttling robot to retract the bridge board so that the upper surface of the shuttling platform leaves from the upper surface of the cleaning region. A re-adjustment control step of the shuttling robot S36, the data processing system controls the shuttling robot to adjust the height and the angle of the shuttling platform, so that the height of the shuttling platform is lower to a lowest point and the shuttling platform remains in a horizontal state. A departing control step of the shuttling robot S37, the data processing system controls the shuttling robot to leave the cleaning region.

In the step of controlling the travel of the shuttling robot S31, the shuttling robot knows a destination position and a passage region map, and the above-mentioned positioning device 604 (tag positioning unit) can be configured to realize automatic navigation. Similarly, the high-precision GPS unit can be used to realize the navigation.

As shown in FIG. 18, the step of controlling the travel of the shuttling robot S31 includes following steps S311 to S315. A first instruction launching step S311, launching a first command to at least one of the shuttling robots, wherein the first command includes the serial number of the shuttling robot and a recommended route of the shuttling robot, and further includes an information of the at least one positioning point positioned on the recommended route and a preset travel direction corresponding to each of the positioning point. A travel data acquisition step S312, when the shuttling robot travels to any of the positioning point, acquiring the information of the positioning point and a real-time travel direction of the shuttling robot. A position comparison step S313, determining whether the positioning point is in the recommended route or not, if not, returning to the first instruction launching step, if yes, executing a next step. A direction comparison step S314, determining whether an actual travel direction of the shuttling robot at the positioning point is consistent with the preset travel direction corresponding to the positioning point or not, if not, determining that the shuttling robot is in a wrong direction, and executing the next step. A second instruction launching step S315, launching a second command to the shuttling robot going the wrong direction, and adjusting the travel direction of the shuttling robot to the preset travel direction corresponding to the positioning point according to the recommended route.

As shown in FIG. 19, the initial adjustment control step of the shuttling robot S32 specifically includes following steps S321 to S323. A height and angle adjustment control step S321, the data processing system controls the shuttling robot to adjust the height and an inclination angle of the shuttling platform, so that the upper surface of the shuttling platform and the upper surface of the cleaning region are on a same plane. A direction adjustment control step S322, the data processing system controls the shuttling robot to adjust a direction of an access opening of the shuttling platform so that the access opening of the shuttling platform faces the cleaning region. A distance adjustment control step S323, controlling the shuttling robot to adjust a distance between the shuttling platform and a border of the cleaning region so that the distance between the shuttling platform and the border of the cleaning region being less than a preset threshold. Wherein, when the upper surface of the shuttling platform and the upper surface of the cleaning region are on the same plane, the access opening of the shuttling platform faces the cleaning region, and the distance between the shuttling platform and the border of the cleaning region is less than the preset threshold, the shuttling robot sends a shuttling robot in-position signal. The data processing system controls the shuttling robot to acquire a distance S between the shuttling robot and a border of the cleaning region, and determines whether an actual distance S is greater than a preset distance threshold S0 or not. When the distance S is greater than S0, the data processing system controls the shuttling robot turns to a certain angle A to the right and advances a certain distance B, then turns to a certain angle A to the left and backs a certain distance C, and travels to the first shuttling region, wherein B is (S−S0)/sin A, C is (S−S0)/tgA. When the distance S is less than S0, the shuttling robot turns to the certain angle A to the left and advances the certain distance B, then turns to the certain angle A to the right and backs the certain distance C, and travels to the first shuttling region, wherein B is (S0−S)/sin A, and C is (S0−S)/tgA. After the initial adjustment control step of the shuttling robot S32, the shuttling platform is flush with the upper surface of the panel array, and the distance between the shuttling robot and the cleaning region (solar panel) is also adjusted to an optimal distance (close to the preset distance threshold S0).

In the re-adjustment control step of the shuttling platform S36, the shuttling robot is controlled to lower the height of the shuttling platform to a lowest point and remains in a horizontal state, effectively lowering a center of gravity, and effectively preventing the cleaning robot from slipping or turning over when the shuttling robot is traveling.

A cleaning control step S4, after the cleaning robot travels to the cleaning region, after the data processing system acquires the transfer completion signal sent by the cleaning robot, controlling the cleaning robot to perform cleaning operations on the upper surface of the solar panel according to preset route, and to perform the cleaning operations from up to down in the cleaning region. At the same time, the shuttling robot drives away from the cleaning region and rushes to a storage region or another cleaning region to perform the next task of picking up the cleaning robot. After the cleaning robot completes the cleaning operations, it automatically travels to the second shuttling region 506 at the lower end of the cleaning region (solar panel), waiting to be transported away by another shuttling robot. Since an area size of each of the cleaning region is known, and the driving speed of the cleaning robot is also known, the data processing system can calculate the real-time operation progress of the cleaning robot during the cleaning operations. When an operation progress of the cleaning robot on a solar panel reaches a preset threshold, such as 80%, the cleaning robot can send a reminder signal to the data processing system. The data processing system searches for all idle shuttling robots near the panel in time, and commands the nearest of the shuttling robot goes to the first shuttling region 505 of the panel to pick up the cleaning robot. This solution can reduce a waiting time of cleaning robots and shuttling robots, and improving an overall cleaning efficiency of the power station.

A second control step S5, after the cleaning robot completes the cleaning operations, the data processing system controls the shuttling robot to carry the cleaning robot out of the cleaning region. As shown in FIG. 20, the second control step includes following steps S51 to S59. A step of controlling a travel of the shuttling robot S51, the data processing system controls the shuttling robot loaded with a cleaning robot to travel to the first shuttling region of a cleaning region. A position detection control step of the cleaning robot S52, the data processing system controls the shuttling robot to determine whether the cleaning robot is positioned in a second shuttling region or not, if not, executing a next step. A position adjustment control step of the cleaning robot S53, the data processing system controls the cleaning robot to adjust the position to the second shuttling region. An initial adjustment control step of the shuttling robot S54, the data processing system controls the shuttling robot to adjust the height and angle of the shuttling platform. A docking control step S55, after acquiring an in-position signal of the shuttling robot, the data processing system controls the shuttling robot to dock with the cleaning region, and the shuttling robot extends out the bridge board to connect the upper surface of the shuttling platform with the upper surface of the cleaning region. A transfer control step of the cleaning robot S56, after acquiring an in-position signal of the cleaning robot, the data processing system controls the cleaning robot to travel from the second shuttling region of the cleaning region to the shuttling device of the shuttling robot, and sends a transfer completion signal. An undocking control step S57, the data processing system controls the shuttling robot to retract the bridge board so that the upper surface of the shuttling platform leaves from the upper surface of the cleaning region. A re-adjustment control step of the shuttling platform S58, the data processing system controls the shuttling robot to adjust the height and angle of the shuttling platform, so that the height of the shuttling platform is lower to a lowest point and remains in a horizontal state. A departing control step of the shuttling robot S59, the data processing system controls the shuttling robot to leave the cleaning region.

In the step of controlling a travel of the shuttling robot S51, the shuttling robot knows a destination position and a passage region map, and the above-mentioned positioning device 604 (tag positioning unit) can be configured to realize automatic navigation. Similarly, the high-precision GPS unit can be used to realize the navigation. The technical content and technical effect of the step of controlling a travel of the shuttling robot S51 is same as that of the step S31, refer to FIG. 18, and will not be repeated here.

In the present invention, when the cleaning robot travels from the cleaning region to the shuttling robot, if the position of the cleaning robot deviates from the second shuttling region, it may fall from a height during the shuttling process, which poses a certain safety risk. Therefore, in the present embodiment, a position detection control step and a position adjustment control step of the cleaning robot need to be added before docking.

As shown in FIG. 21, the position detection control step of the cleaning robot S52 includes following steps. An image acquisition step S521, a camera on a side of the shuttling robot faced to the solar panel acquiring a real-time picture, which the picture includes an image of the second shuttling region, including a graphic mark on the cleaning robot. A deviation value calculation step S522, calculating a deviation value D between a position of the graphic mark in the real-time picture and a preset position. A deviation judgment step S523, if an absolute value of the deviation value D is less than a preset threshold DO, it is determined that the cleaning robot has reached the second shuttling region. If the absolute value of the deviation value D is greater than or equal to the preset threshold DO, it is determined that the cleaning robot deviates from the second shuttling region. The graphic mark is a mark pre-attached to a front or back of the cleaning robot. The shuttling robot or data processing system is preset with a photo of the cleaning robot before docking, and a position of the mark in the photo is determined. By comparing the position of the mark in an actual photo and the position in the preset photo, it can be determined whether the shuttling robot deviates from the second shuttling region or not.

As shown in FIG. 22, the position adjustment control step of the cleaning robot S53 includes following steps. A deviation value calculation step S531, calculating the deviation value D between the position of the graphic mark in the real-time picture and the preset position. A deviation direction judgment step S532, judging a deviation direction of the cleaning robot according to the deviation value. An icon judgment step S533, judging whether the graphic mark is positioned on a front surface or a rear surface of the cleaning robot. A travelling control step S534, if the cleaning robot deviates to the left, and the graphic mark is set on the front surface of the cleaning robot, the cleaning robot turns to a certain angle F to the right and backs a certain distance G; then turns to a certain angle F to the left, advances a certain distance H, and travels to the second shuttling region. If the cleaning robot deviates to the left, and the graphic mark is set on the rear surface of the cleaning robot, the cleaning robot turns to the certain angle F to the right and advances the certain distance G; then turns to the certain angle F to the left, backs the certain distance H, and travels to the second shuttling region. If the cleaning robot deviates to the right, and the graphic mark is set on the front surface of the cleaning robot, the cleaning robot turns to the certain angle F to the left and backs the certain distance G; then turns to the certain angle F to the right, advances the certain distance H, and travels to the second shuttling region. If the cleaning robot deviates to the right, and the graphic mark is set on the rear surface of the cleaning robot, the cleaning robot turns to the certain angle F to the left and advances the certain distance G; then turns to the certain angle F to the right, backs the certain distance H, and travels to the second shuttling region. Wherein, G is E/sin F and H is E/tgF. The position detection control step of the cleaning robot S52 and the position adjustment control step of the cleaning robot S53 can ensure that the cleaning robot and the shuttling robot maintain a relative positional relationship, and further ensure the safety of the cleaning robot during the transfer process.

The initial adjustment control step of the shuttling robot S54 has same technical solutions and technical effects as the aforementioned step S32, which can be seen in FIG. 19, which will not be repeated here.

In the transfer control step of the cleaning robot S56, the data processing system controls the shuttling robot to reduce the height of the shuttling platform to the lowest point and remains in a horizontal state, effectively lowering a center of gravity, and effectively preventing the cleaning robot from slipping or turning over when the shuttling robot is traveling. As shown in FIG. 23, a shuttling robot performs a directional positioning step during a traveling process, which specifically includes following steps S61 to S64. A command acquisition step S61, acquiring a first command launched by a data processing system, the first command including a destination position of a transport path of the shuttling robot and a recommended route, and further includes a serial number of each of positioning point on the recommended route and a preset travel direction corresponding to each of the positioning point. A traveling step S62, traveling along the recommended route to the destination position according to the first command. A positioning step S63, reading an identifiable tag (such as RFID tag) of any positioning point and acquire a position and the serial number of the positioning point. The shuttling robot sends a feedback signal to the data processing system. The data processing system acquires a real-time position of the shuttling robot according to the feedback signal. An orientation step S64, judging whether an actual travel direction is consistent with the preset travel direction corresponding to the positioning point or not, if not, the actual travel direction is adjusted to the preset travel direction. The steps S61 to S64 are configured to realize a navigation of the shuttling robot, to ensure that the shuttling robot travels to a first shuttling region accurately, and to prevent deviation from the preset route.

As shown in FIG. 24, the shuttling robot further includes a fine direction adjustment step during the traveling process, which specifically includes following steps S71 to S72. A picture collection step S71, which the shuttling robot uses a camera to collect real-time pictures while traveling. A direction adjustment step S72, which the shuttling robot or the data processing system judges a feasible path and/or a location of obstacles according to real-time pictures, and adjusts a travel direction of the shuttling robot accordingly. The steps S71 to S72 are configured to realize an obstacle avoidance effect during the traveling process of the shuttling robot and prevent a robot from being damaged during traveling.

The present invention provides a control method of a cleaning system to complete an intelligent cleaning of a large number of solar panels. According to a workload of a cleaning operation, a suitable number of cleaning robots and shuttling robots are dispatched, and the cleaning robots are configured to complete the cleaning work on the solar panels or solar panel arrays. The shuttling robots are configured to transfer the cleaning robots between multiple solar panel arrays, which can complete the cleaning tasks of all solar panels and panel arrays in the shortest time.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made. These improvements and modifications should also be regarded as the protection scope of the present invention.

The subject matter of the present invention is feasible to be manufactured and used in the industry, and thus has the industrial applicability. 

1-13. (canceled)
 14. A docking method, comprising: a docking area setting step of setting a first docking area located outside each of a plurality of cleaning areas and adjoining a side of the cleaning area, and setting a second docking area located in the cleaning area, adjoining the side of the cleaning area, and corresponding to the first docking area; an approaching cleaning area step of dispatching a docking robot to the first docking area adjoining the cleaning area; a docking platform initial adjustment step of adjusting an angle and/or a height of a docking platform to allow an upper surface of the docking platform to be flush with an upper surface of a panel located in the cleaning area, and allow an entrance of a docking apparatus to face the second docking area; a cleaning robot first control step of controlling a cleaning robot to pass through the entrance from the first docking area to the second docking area, or from the second docking area to the first docking area; a docking platform further adjustment step of adjusting the angle and/or the height of the docking platform to make the upper surface of the docking platform be in a horizontal state; and a leaving cleaning area step of controlling the docking robot to leave the first docking area.
 15. The docking method of claim 14, wherein the approaching cleaning area step comprises: an instruction obtaining step of obtaining a travel control instruction including a destination position and a recommended route of a transfer path of the docking robot; a station step of controlling the docking robot to travel along the recommended route to the destination position in the first docking area; a distance obtaining step of obtaining a current distance between the docking robot and a border of the cleaning area, and determining whether the current distance is greater than a predetermined distance threshold; and a position adjustment step of controlling the docking robot to turn right at a steering angle and travel forward at an advance distance, and then turn left at the steering angle and travel back at a rearward distance to travel to the first docking area based on the current distance greater than the predetermined distance threshold, wherein the advance distance is determined by an equation set forth as (S−S0)/sin A, and the rearward distance is determined by an equation set forth as (S−S0)/tgA, in which S represents the current distance, S0 represents the predetermined distance threshold, and A represents the steering angle, and controlling the docking robot to turn left at the steering angle and travel forward at the advance distance, and then turn right at the steering angle and travel back at the rearward distance to travel to the first docking area based on the current distance less than the predetermined distance threshold, wherein the advance distance is determined by an equation set forth as (S0−S)/sin A, and the rearward distance is determined by an equation set forth as (S0−S)/tgA.
 16. The docking method of claim 15, wherein, prior to the position adjustment step, the approaching cleaning area step further comprises a distance signal sending step of sending a signal of the current distance to a data processing system, and a first instruction sending step of sending a first travel instruction to the cleaning robot.
 17. The docking method of claim 14, wherein, prior to the cleaning robot first control step, based on the cleaning robot needing to travel from the second docking area to the first docking area, the docking method further comprises a cleaning robot position determination step of determining whether the cleaning robot is in the second docking robot, and a cleaning robot position adjustment step of adjusting a position of the cleaning robot to be positioned in the second docking area based on the cleaning robot which needs not to travel from the second docking area to the first docking area.
 18. The docking method of claim 17, wherein the cleaning robot position determination step comprises: a picture obtaining step of obtaining a real-time picture including a graphic identifier provided on the cleaning robot; a deviation value calculation step of calculating a deviation value between a position of the graphic identifier in the real-time picture and a preset position of the graphic identifier; and a deviation determination step of determining that the cleaning robot has reached the second docking area based on an absolute value of the deviation value being less than a predetermined threshold, and determining that the cleaning robot deviates from the second docking area based on an absolute value of the deviation value being greater than or equal to the predetermined threshold.
 19. The docking method of claim 18, wherein the cleaning robot position adjustment step comprises: a deviation direction determination step of determining a deviation direction of the cleaning robot according to the deviation value; a graphical identifier determination step of determining whether the graphic identifier is located on a front surface or a rear surface of the cleaning robot; and a cleaning robot second control step of controlling the cleaning robot to turn right at a steering angle and travel back at a first distance, and then turn left at the steering angle and travel forward at a second distance to travel to the second docking area based on the cleaning robot deviating to the left and the graphic identifier located on the front surface of the cleaning robot; controlling the cleaning robot to turn right at the steering angle and travel forward at the first distance, and then turn left at the steering angle and travel back at the second distance to travel to the second docking area based on the cleaning robot deviating to the left and the graphic identifier located on the rear surface of the cleaning robot; controlling the cleaning robot to turn left at the steering angle and travel back at the first distance, and then turn right at the steering angle and travel forward at the second distance to travel to the second docking area based on the cleaning robot deviating to the right and the graphic identifier located on the front surface of the cleaning robot; and controlling the cleaning robot to turn left at the steering angle and travel forward at the first distance, and then turn right at the steering angle and travel back at the second distance to travel to the second docking area based on the cleaning robot deviating to the right and the graphic identifier located on the rear surface of the cleaning robot, wherein the first distance is determined by an equation set forth as E/sin F, and the second distance is determined by an equation set forth as E/tgF, in which F represents the steering angle.
 20. The docking method of claim 19, wherein, prior to the cleaning robot second control step, the docking method further comprises a cleaning robot data release step of sending the deviation direction of the cleaning robot and a location of the graphic identifier on the cleaning robot to a data processing system, and a third instruction sending step of sending a third travel instruction to the cleaning robot through the data processing system.
 21. The docking method of claim 14, wherein after the docking platform initial adjustment step, the docking method further comprises a mating step of mating the docking platform to the second docking area of the cleaning area, and after the docking platform further adjustment step, the docking method further comprises an undocking step of separating the docking platform from the second docking area of the cleaning area.
 22. The docking method of claim 21, wherein in the mating step, a bridge board provided by the docking robot extends from the docking robot to connect the upper surface of the docking platform to the upper surface of the panel in the cleaning area, and in the undocking step, the bridge board is retracted so that the upper surface of the docking platform is separated from the upper surface of the panel in the cleaning area.
 23. The docking method of claim 14, wherein, prior to the cleaning robot first control step, the docking method further comprises an in-position signal sending step of sending an in-position signal indicating the docking robot arrives in position to a data processing system, and a second instruction sending step of sending a second travel instruction by the data processing system to the cleaning root. 